Migrated from GitHub

.gitattributes

@@ -57,3 +57,8 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+data/ADF/Phantoms/3D_MED/high_res/phantom.OBJ filter=lfs diff=lfs merge=lfs -text
+data/blender/3d_med_straight_phantom.blend filter=lfs diff=lfs merge=lfs -text
+data/blender/full_scene_new_instruments.blend filter=lfs diff=lfs merge=lfs -text
+data/blender/full_scene_new_instruments_diffgripper.blend filter=lfs diff=lfs merge=lfs -text
+data/blender/simple_phantom_scene.blend filter=lfs diff=lfs merge=lfs -text

data/ADF/PSMs/LND_400006_SIMPLE/ghosts_actuators_psm1.yaml

@@ -0,0 +1,98 @@
+# AMBF Version: (0.1)
+ghost objects: [GHOST right finger, GHOST left finger]
+actuators: [ACTUATOR Actuator0]
+joints: []
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: true
+namespace: /ambf/env/ghosts/psm1/
+
+collision geometry: &box_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+shape geometry: &shape_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+GHOST right finger:
+  name: right_finger_ghost
+  parent: psm1/BODY tool gripper1 simple
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.0064
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+GHOST left finger:
+  name: left_finger_ghost
+  parent: psm1/BODY tool gripper2 simple
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.0064
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+ACTUATOR Actuator0:
+  name: Actuator0
+  type: Constraint
+  location:
+    orientation: {p: 0.0, r: 0.0, y: 0.0}
+    position: {x: 0.0, y: -0.010, z: 0.0}
+  parent: /ambf/env/psm1/BODY tool yaw link simple
+  visible: False
+  visible size: 0.0005

data/ADF/PSMs/LND_400006_SIMPLE/ghosts_actuators_psm2.yaml

@@ -0,0 +1,98 @@
+# AMBF Version: (0.1)
+ghost objects: [GHOST right finger, GHOST left finger]
+actuators: [ACTUATOR Actuator0]
+joints: []
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: true
+namespace: /ambf/env/ghosts/psm2/
+
+collision geometry: &box_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+shape geometry: &shape_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+GHOST right finger:
+  name: right_finger_ghost
+  parent: psm2/BODY tool gripper1 simple
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+GHOST left finger:
+  name: left_finger_ghost
+  parent: psm2/BODY tool gripper2 simple
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+ACTUATOR Actuator0:
+  name: Actuator0
+  type: Constraint
+  location:
+    orientation: {p: 0.0, r: 0.0, y: 0.0}
+    position: {x: 0.0, y: -0.010, z: 0.0}
+  parent: /ambf/env/psm2/BODY tool yaw link simple
+  visible: False
+  visible size: 0.0005

data/ADF/PSMs/LND_400006_SIMPLE/high_res/base link simple.OBJ

@@ -0,0 +1,134 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib base link simple.mtl
+o /ambf/env/psm1/base_link_simple_base_link
+v 0.000000 -0.025767 -0.009917
+v 0.000000 -0.005767 0.000083
+v 0.001951 -0.025767 -0.009725
+v 0.003827 -0.025767 -0.009156
+v 0.005556 -0.025767 -0.008232
+v 0.007071 -0.025767 -0.006988
+v 0.008315 -0.025767 -0.005473
+v 0.009239 -0.025767 -0.003744
+v 0.009808 -0.025767 -0.001868
+v 0.010000 -0.025767 0.000083
+v 0.009808 -0.025767 0.002034
+v 0.009239 -0.025767 0.003910
+v 0.008315 -0.025767 0.005638
+v 0.007071 -0.025767 0.007154
+v 0.005556 -0.025767 0.008397
+v 0.003827 -0.025767 0.009322
+v 0.001951 -0.025767 0.009891
+v 0.000000 -0.025767 0.010083
+v -0.001951 -0.025767 0.009891
+v -0.003827 -0.025767 0.009322
+v -0.005556 -0.025767 0.008397
+v -0.007071 -0.025767 0.007154
+v -0.008315 -0.025767 0.005638
+v -0.009239 -0.025767 0.003910
+v -0.009808 -0.025767 0.002034
+v -0.010000 -0.025767 0.000083
+v -0.009808 -0.025767 -0.001868
+v -0.009239 -0.025767 -0.003744
+v -0.008315 -0.025767 -0.005473
+v -0.007071 -0.025767 -0.006988
+v -0.005556 -0.025767 -0.008232
+v -0.003827 -0.025767 -0.009156
+v -0.001951 -0.025767 -0.009725
+vn 0.0880 0.4455 -0.8910
+vn 0.2599 0.4455 -0.8567
+vn 0.4220 0.4455 -0.7896
+vn 0.5681 0.4455 -0.6919
+vn 0.6919 0.4455 -0.5681
+vn 0.7896 0.4455 -0.4220
+vn 0.8567 0.4455 -0.2599
+vn 0.8910 0.4455 -0.0877
+vn 0.8910 0.4455 0.0877
+vn 0.8567 0.4455 0.2599
+vn 0.7897 0.4455 0.4217
+vn 0.6921 0.4455 0.5679
+vn 0.5679 0.4455 0.6921
+vn 0.4223 0.4455 0.7894
+vn 0.2599 0.4455 0.8567
+vn 0.0880 0.4455 0.8910
+vn -0.0880 0.4455 0.8910
+vn -0.2599 0.4455 0.8567
+vn -0.4220 0.4455 0.7896
+vn -0.5679 0.4455 0.6921
+vn -0.6921 0.4455 0.5679
+vn -0.7897 0.4455 0.4217
+vn -0.8567 0.4455 0.2599
+vn -0.8910 0.4455 0.0877
+vn -0.8910 0.4455 -0.0877
+vn -0.8567 0.4455 -0.2599
+vn -0.7896 0.4455 -0.4220
+vn -0.6919 0.4455 -0.5681
+vn -0.5681 0.4455 -0.6919
+vn -0.4220 0.4455 -0.7896
+vn -0.2599 0.4455 -0.8567
+vn -0.0880 0.4455 -0.8910
+vn 0.0000 -1.0000 -0.0000
+usemtl base_linkmat
+s 1
+f 1//1 2//1 3//1
+f 3//2 2//2 4//2
+f 4//3 2//3 5//3
+f 5//4 2//4 6//4
+f 6//5 2//5 7//5
+f 7//6 2//6 8//6
+f 8//7 2//7 9//7
+f 9//8 2//8 10//8
+f 10//9 2//9 11//9
+f 11//10 2//10 12//10
+f 12//11 2//11 13//11
+f 13//12 2//12 14//12
+f 14//13 2//13 15//13
+f 15//14 2//14 16//14
+f 16//15 2//15 17//15
+f 17//16 2//16 18//16
+f 18//17 2//17 19//17
+f 19//18 2//18 20//18
+f 20//19 2//19 21//19
+f 21//20 2//20 22//20
+f 22//21 2//21 23//21
+f 23//22 2//22 24//22
+f 24//23 2//23 25//23
+f 25//24 2//24 26//24
+f 26//25 2//25 27//25
+f 27//26 2//26 28//26
+f 28//27 2//27 29//27
+f 29//28 2//28 30//28
+f 30//29 2//29 31//29
+f 31//30 2//30 32//30
+f 32//31 2//31 33//31
+f 33//32 2//32 1//32
+f 33//33 1//33 3//33
+f 3//33 4//33 5//33
+f 5//33 6//33 7//33
+f 7//33 8//33 9//33
+f 9//33 10//33 11//33
+f 11//33 12//33 13//33
+f 13//33 14//33 15//33
+f 15//33 16//33 17//33
+f 17//33 18//33 19//33
+f 19//33 20//33 21//33
+f 21//33 22//33 23//33
+f 23//33 24//33 25//33
+f 25//33 26//33 27//33
+f 27//33 28//33 29//33
+f 29//33 30//33 31//33
+f 31//33 32//33 33//33
+f 33//33 3//33 5//33
+f 5//33 7//33 9//33
+f 9//33 11//33 13//33
+f 13//33 15//33 17//33
+f 17//33 19//33 21//33
+f 21//33 23//33 25//33
+f 25//33 27//33 29//33
+f 29//33 31//33 33//33
+f 33//33 5//33 9//33
+f 9//33 13//33 17//33
+f 17//33 21//33 25//33
+f 25//33 29//33 33//33
+f 33//33 9//33 17//33
+f 17//33 25//33 33//33

data/ADF/PSMs/LND_400006_SIMPLE/high_res/base link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl base_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.937300 0.015700 0.131700
+Ks 0.500053 0.500053 0.500053
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/main insertion link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl main_insertion_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.556900 0.058800
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/pitch end link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl pitch_end_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.141800 0.162700 0.447900
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool gripper1 simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_gripper1_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool gripper2 simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_gripper2_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool pitch link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_pitch_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.300000 0.300000 0.300000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool roll link simple.OBJ

@@ -0,0 +1,1289 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib tool roll link simple.mtl
+o /ambf/env/psm1/tool_roll_link_simple_tool_roll_link
+v 0.002696 -0.003221 0.184228
+v 0.002688 -0.003228 0.184228
+v 0.002696 -0.003223 0.181378
+v 0.002609 -0.003296 0.175879
+v 0.003182 -0.002747 0.181378
+v 0.002671 -0.003241 0.184527
+v 0.002618 -0.003283 0.184818
+v 0.003182 -0.002751 0.175878
+v 0.003640 -0.002106 0.175878
+v 0.003640 -0.002103 0.181378
+v 0.003969 -0.001387 0.175877
+v 0.003969 -0.001383 0.181377
+v 0.004155 -0.000618 0.175877
+v 0.004155 -0.000615 0.181377
+v 0.004193 0.000172 0.175876
+v 0.004193 0.000175 0.181376
+v 0.004080 0.000954 0.175876
+v 0.004080 0.000958 0.181376
+v 0.003822 0.001702 0.175875
+v 0.003822 0.001705 0.181375
+v 0.003426 0.002387 0.175875
+v 0.003426 0.002390 0.181375
+v 0.002908 0.002984 0.175875
+v 0.002908 0.002988 0.181375
+v 0.002287 0.003473 0.175874
+v 0.002425 0.003386 0.185374
+v 0.002538 0.003304 0.185103
+v 0.002621 0.003240 0.184814
+v 0.002671 0.003200 0.184523
+v 0.002688 0.003186 0.184224
+v 0.002696 0.003179 0.184224
+v 0.002696 0.003177 0.181374
+v 0.001584 0.003836 0.175874
+v 0.001583 0.003840 0.186370
+v 0.001690 0.003798 0.186296
+v 0.001911 0.003694 0.186098
+v 0.002110 0.003587 0.185876
+v 0.002287 0.003479 0.185626
+v 0.001391 0.003914 0.186502
+v 0.000825 0.004058 0.175874
+v 0.001187 0.003978 0.186611
+v 0.000668 0.004091 0.184670
+v 0.000720 0.004083 0.184818
+v 0.000341 0.004128 0.184343
+v 0.000474 0.004116 0.184427
+v 0.000585 0.004103 0.184537
+v 0.000738 0.004080 0.184974
+v 0.000825 0.004065 0.186754
+v 0.000720 0.004083 0.185130
+v 0.000668 0.004092 0.185278
+v 0.000585 0.004104 0.185410
+v -0.000593 0.004092 0.185278
+v -0.000645 0.004083 0.185130
+v -0.000750 0.004065 0.186754
+v -0.000510 0.004104 0.185410
+v 0.000474 0.004117 0.185521
+v 0.000341 0.004129 0.185604
+v 0.000627 0.004099 0.186807
+v 0.000194 0.004137 0.185656
+v 0.000299 0.004132 0.186861
+v 0.000038 0.004140 0.185674
+v 0.000038 0.004138 0.186870
+v -0.000038 0.004140 0.186873
+v -0.000118 0.004137 0.185656
+v -0.000261 0.004130 0.186857
+v -0.000552 0.004099 0.186807
+v -0.000266 0.004129 0.185604
+v -0.000399 0.004117 0.185521
+v -0.000662 0.004080 0.184974
+v -0.000645 0.004083 0.184818
+v -0.000750 0.004058 0.175874
+v -0.000593 0.004091 0.184670
+v -0.000510 0.004103 0.184537
+v -0.000399 0.004116 0.184427
+v -0.000266 0.004128 0.184343
+v -0.000119 0.004136 0.184291
+v 0.000038 0.004134 0.175874
+v 0.000038 0.004139 0.184274
+v 0.000193 0.004136 0.184291
+v -0.001508 0.003836 0.175874
+v -0.001508 0.003842 0.186376
+v -0.001316 0.003914 0.186502
+v -0.001112 0.003978 0.186611
+v -0.002211 0.003473 0.175874
+v -0.002211 0.003479 0.185626
+v -0.002034 0.003587 0.185876
+v -0.001837 0.003694 0.186097
+v -0.001610 0.003797 0.186290
+v -0.002620 0.003179 0.184224
+v -0.002612 0.003186 0.184224
+v -0.002620 0.003177 0.181374
+v -0.002833 0.002988 0.181375
+v -0.002595 0.003200 0.184523
+v -0.002546 0.003240 0.184814
+v -0.002463 0.003304 0.185102
+v -0.002350 0.003386 0.185374
+v -0.002833 0.002984 0.175875
+v -0.003351 0.002387 0.175875
+v -0.003351 0.002390 0.181375
+v -0.003746 0.001702 0.175875
+v -0.003746 0.001705 0.181375
+v -0.004005 0.000954 0.175876
+v -0.004005 0.000958 0.181376
+v -0.004118 0.000172 0.175876
+v -0.004118 0.000175 0.181376
+v -0.004080 -0.000618 0.175877
+v -0.004080 -0.000615 0.181377
+v -0.003894 -0.001387 0.175877
+v -0.003894 -0.001383 0.181377
+v -0.003565 -0.002106 0.175878
+v -0.003565 -0.002103 0.181378
+v -0.003106 -0.002751 0.175878
+v -0.003106 -0.002747 0.181378
+v -0.002612 -0.003228 0.184228
+v -0.002620 -0.003221 0.184228
+v -0.002620 -0.003223 0.181378
+v -0.002534 -0.003296 0.175879
+v -0.001869 -0.003724 0.175879
+v -0.002034 -0.003627 0.185881
+v -0.002206 -0.003523 0.185639
+v -0.002350 -0.003427 0.185378
+v -0.002454 -0.003352 0.185131
+v -0.002534 -0.003290 0.184859
+v -0.002546 -0.003281 0.184818
+v -0.002595 -0.003241 0.184527
+v -0.001134 -0.004011 0.186606
+v -0.001383 -0.003929 0.186466
+v -0.001134 -0.004018 0.175879
+v -0.001615 -0.003838 0.186301
+v -0.001869 -0.003717 0.186070
+v -0.000510 -0.004145 0.184543
+v -0.000358 -0.004162 0.184401
+v -0.000358 -0.004168 0.175879
+v -0.000266 -0.004170 0.184348
+v -0.000662 -0.004121 0.184979
+v -0.000645 -0.004124 0.184823
+v -0.000593 -0.004133 0.184675
+v -0.000645 -0.004124 0.185135
+v -0.000593 -0.004132 0.185283
+v -0.000510 -0.004144 0.185415
+v -0.000358 -0.004161 0.186849
+v -0.000552 -0.004137 0.186813
+v -0.000358 -0.004161 0.185557
+v -0.000840 -0.004086 0.186730
+v -0.001112 -0.004017 0.186615
+v -0.000266 -0.004169 0.185610
+v -0.000118 -0.004177 0.185661
+v 0.000038 -0.004179 0.186879
+v 0.000038 -0.004180 0.185679
+v 0.000433 -0.004161 0.186849
+v 0.000194 -0.004177 0.185661
+v 0.000341 -0.004169 0.185610
+v 0.000433 -0.004161 0.185557
+v 0.000627 -0.004137 0.186813
+v 0.000915 -0.004086 0.186729
+v 0.000720 -0.004124 0.185135
+v 0.000738 -0.004121 0.184979
+v 0.001209 -0.004010 0.186604
+v 0.001187 -0.004017 0.186617
+v 0.000585 -0.004144 0.185415
+v 0.000668 -0.004132 0.185283
+v 0.000720 -0.004124 0.184823
+v 0.001210 -0.004018 0.175879
+v 0.001458 -0.003930 0.186466
+v 0.000433 -0.004162 0.184401
+v 0.000433 -0.004168 0.175879
+v 0.000585 -0.004145 0.184543
+v 0.000668 -0.004133 0.184675
+v 0.001944 -0.003724 0.175879
+v 0.001944 -0.003717 0.186070
+v 0.001690 -0.003838 0.186301
+v 0.002425 -0.003427 0.185378
+v 0.002281 -0.003523 0.185639
+v 0.002110 -0.003627 0.185881
+v 0.002609 -0.003291 0.184869
+v 0.002529 -0.003352 0.185131
+v 0.000341 -0.004170 0.184348
+v 0.000194 -0.004178 0.184297
+v 0.000038 -0.004186 0.175879
+v 0.000038 -0.004181 0.184279
+v -0.000118 -0.004178 0.184297
+v 0.000038 -0.000026 0.175876
+v 0.000341 0.003179 0.184344
+v 0.000038 0.003179 0.184274
+v -0.000266 0.003180 0.185605
+v 0.000038 0.003180 0.185674
+v 0.000038 0.003181 0.186874
+v 0.000585 0.003180 0.185411
+v 0.000720 0.003180 0.185130
+v 0.002688 0.003179 0.184224
+v 0.000720 0.003179 0.184819
+v 0.000585 0.003179 0.184538
+v -0.002612 0.003179 0.184224
+v -0.000266 0.003179 0.184344
+v 0.000627 0.003181 0.186808
+v 0.000341 0.003180 0.185605
+v 0.001187 0.003180 0.186612
+v -0.000510 0.003179 0.184538
+v -0.000645 0.003179 0.184819
+v -0.002546 0.003179 0.184814
+v -0.000645 0.003180 0.185130
+v -0.000510 0.003180 0.185411
+v -0.002034 0.003180 0.185877
+v -0.002350 0.003180 0.185374
+v -0.000552 0.003181 0.186808
+v -0.001112 0.003180 0.186612
+v -0.001615 0.003180 0.186296
+v 0.002621 0.003179 0.184814
+v 0.002425 0.003180 0.185374
+v 0.002110 0.003180 0.185877
+v 0.001690 0.003180 0.186296
+v 0.002688 -0.003221 0.184228
+v -0.002546 -0.003221 0.184818
+v -0.002350 -0.003220 0.185378
+v -0.002612 -0.003221 0.184228
+v -0.002034 -0.003220 0.185881
+v -0.001615 -0.003220 0.186300
+v -0.001112 -0.003220 0.186616
+v -0.000552 -0.003219 0.186812
+v 0.000038 -0.003219 0.186878
+v -0.000510 -0.003220 0.185415
+v -0.000266 -0.003220 0.185609
+v 0.000038 -0.003220 0.185678
+v 0.000341 -0.003220 0.185609
+v -0.000645 -0.003220 0.185134
+v -0.000645 -0.003221 0.184823
+v -0.000510 -0.003221 0.184542
+v -0.000266 -0.003221 0.184348
+v 0.000720 -0.003221 0.184823
+v 0.002621 -0.003221 0.184818
+v 0.000720 -0.003220 0.185134
+v 0.000038 -0.003221 0.184278
+v 0.000341 -0.003221 0.184348
+v 0.000585 -0.003221 0.184542
+v 0.000585 -0.003220 0.185415
+v 0.002110 -0.003220 0.185881
+v 0.002425 -0.003220 0.185378
+v 0.000627 -0.003219 0.186812
+v 0.001187 -0.003220 0.186616
+v 0.001690 -0.003220 0.186300
+v 0.004231 0.000023 -0.191223
+v 0.003604 -0.002121 0.175576
+v 0.003668 -0.002077 -0.191223
+v 0.002066 -0.003658 0.175576
+v 0.002131 -0.003614 -0.191224
+v -0.000034 -0.004221 0.175575
+v 0.000031 -0.004177 -0.191224
+v -0.002134 -0.003658 0.175575
+v -0.002069 -0.003614 -0.191225
+v -0.003671 -0.002121 0.175575
+v -0.003606 -0.002077 -0.191225
+v -0.004233 -0.000021 0.175575
+v -0.004169 0.000023 -0.191224
+v -0.003671 0.002079 0.175575
+v -0.003606 0.002123 -0.191224
+v -0.002133 0.003616 0.175576
+v -0.002069 0.003660 -0.191224
+v -0.000033 0.004179 0.175576
+v 0.000031 0.004223 -0.191223
+v 0.002067 0.003616 0.175576
+v 0.002131 0.003660 -0.191223
+v 0.003604 0.002079 0.175577
+v 0.003668 0.002123 -0.191223
+v 0.004167 -0.000021 0.175576
+v -0.000033 -0.000021 0.175576
+vn 0.6380 -0.7700 0.0005
+vn 0.6262 -0.7797 -0.0001
+vn 0.6352 -0.7723 0.0005
+vn 0.6288 -0.7776 0.0005
+vn 0.6997 -0.7144 -0.0016
+vn 0.6969 -0.7172 -0.0008
+vn 0.6926 -0.7213 0.0000
+vn 0.6212 -0.7837 -0.0008
+vn 0.6248 -0.7808 0.0001
+vn 0.6901 -0.7237 0.0005
+vn 0.8146 -0.5800 0.0004
+vn 0.8146 -0.5801 0.0004
+vn 0.8147 -0.5799 0.0004
+vn 0.9097 -0.4152 0.0003
+vn 0.9097 -0.4153 0.0003
+vn 0.9097 -0.4154 0.0003
+vn 0.9718 -0.2357 0.0002
+vn 0.9719 -0.2356 0.0002
+vn 0.9718 -0.2358 0.0002
+vn 0.9989 -0.0477 0.0000
+vn 0.9989 -0.0476 -0.0000
+vn 0.9898 0.1423 -0.0001
+vn 0.9898 0.1424 -0.0001
+vn 0.9451 0.3269 -0.0002
+vn 0.9450 0.3270 -0.0002
+vn 0.9450 0.3271 -0.0002
+vn 0.9452 0.3265 -0.0002
+vn 0.8660 0.5000 -0.0003
+vn 0.8661 0.4999 -0.0003
+vn 0.7558 0.6548 -0.0005
+vn 0.7558 0.6549 -0.0004
+vn 0.7557 0.6549 -0.0004
+vn 0.7559 0.6547 -0.0005
+vn 0.5865 0.8099 -0.0011
+vn 0.6229 0.7823 -0.0016
+vn 0.6379 0.7701 -0.0005
+vn 0.6650 0.7468 -0.0005
+vn 0.6183 0.7859 -0.0037
+vn 0.5928 0.8054 -0.0007
+vn 0.6130 0.7901 -0.0022
+vn 0.5991 0.8007 -0.0060
+vn 0.3615 0.9324 -0.0003
+vn 0.3616 0.9323 -0.0003
+vn 0.3617 0.9323 -0.0003
+vn 0.4236 0.9058 -0.0011
+vn 0.4723 0.8814 -0.0029
+vn 0.4585 0.8887 -0.0020
+vn 0.5195 0.8545 -0.0005
+vn 0.5574 0.8302 -0.0005
+vn 0.2816 0.9595 -0.0020
+vn 0.2998 0.9540 -0.0030
+vn 0.1585 0.9874 -0.0008
+vn 0.0906 0.9959 -0.0030
+vn 0.1193 0.9929 -0.0018
+vn 0.1424 0.9898 -0.0011
+vn 0.1671 0.9859 -0.0007
+vn 0.1712 0.9852 -0.0007
+vn 0.1709 0.9853 -0.0006
+vn 0.1788 0.9839 -0.0006
+vn 0.2330 0.9725 -0.0006
+vn 0.1700 0.9854 -0.0002
+vn 0.1618 0.9868 -0.0001
+vn 0.1632 0.9866 0.0002
+vn 0.1608 0.9870 0.0004
+vn 0.1458 0.9893 0.0021
+vn -0.1607 0.9870 0.0004
+vn -0.1458 0.9893 0.0021
+vn 0.1248 0.9922 0.0059
+vn 0.0979 0.9951 0.0137
+vn 0.1621 0.9867 -0.0138
+vn 0.0593 0.9982 0.0109
+vn 0.1016 0.9948 -0.0051
+vn 0.0202 0.9998 0.0017
+vn 0.0191 0.9998 0.0021
+vn 0.0219 0.9998 0.0012
+vn 0.0224 0.9997 0.0013
+vn -0.0191 0.9998 -0.0012
+vn -0.0448 0.9990 0.0005
+vn -0.1057 0.9944 -0.0067
+vn -0.0593 0.9982 0.0109
+vn -0.1621 0.9867 -0.0138
+vn -0.0978 0.9951 0.0137
+vn -0.1248 0.9922 0.0059
+vn -0.1671 0.9859 -0.0007
+vn -0.1621 0.9868 -0.0008
+vn -0.1656 0.9862 -0.0007
+vn -0.1584 0.9874 -0.0009
+vn -0.1424 0.9898 -0.0011
+vn -0.1193 0.9929 -0.0018
+vn -0.0905 0.9959 -0.0030
+vn -0.0568 0.9984 -0.0049
+vn -0.0951 0.9955 -0.0021
+vn -0.0192 0.9998 -0.0006
+vn 0.0952 0.9955 -0.0006
+vn 0.0194 0.9998 -0.0078
+vn 0.0566 0.9984 -0.0050
+vn -0.2817 0.9595 -0.0006
+vn -0.3457 0.9383 -0.0057
+vn -0.1701 0.9854 -0.0002
+vn -0.1729 0.9849 -0.0003
+vn -0.1725 0.9850 -0.0003
+vn -0.1788 0.9839 -0.0006
+vn -0.2330 0.9725 -0.0006
+vn -0.2997 0.9540 -0.0030
+vn -0.4582 0.8888 -0.0006
+vn -0.5143 0.8576 -0.0057
+vn -0.4724 0.8814 -0.0030
+vn -0.4115 0.9114 -0.0006
+vn -0.6381 0.7700 -0.0005
+vn -0.5927 0.8054 -0.0007
+vn -0.6649 0.7469 -0.0092
+vn -0.6229 0.7823 -0.0016
+vn -0.5990 0.8007 -0.0060
+vn -0.6131 0.7900 -0.0022
+vn -0.5865 0.8099 -0.0011
+vn -0.5574 0.8302 -0.0005
+vn -0.6180 0.7861 -0.0006
+vn -0.7558 0.6548 -0.0004
+vn -0.7557 0.6549 -0.0004
+vn -0.7556 0.6551 -0.0004
+vn -0.7556 0.6550 -0.0004
+vn -0.8660 0.5000 -0.0003
+vn -0.8660 0.5001 -0.0003
+vn -0.9449 0.3272 -0.0002
+vn -0.9450 0.3272 -0.0002
+vn -0.9450 0.3271 -0.0002
+vn -0.9898 0.1423 -0.0001
+vn -0.9898 0.1424 -0.0001
+vn -0.9898 0.1425 -0.0001
+vn -0.9989 -0.0477 0.0000
+vn -0.9989 -0.0476 -0.0000
+vn -0.9718 -0.2358 0.0002
+vn -0.9718 -0.2357 0.0002
+vn -0.9719 -0.2354 0.0002
+vn -0.9097 -0.4152 0.0004
+vn -0.9097 -0.4153 0.0003
+vn -0.9096 -0.4154 0.0003
+vn -0.8146 -0.5801 0.0004
+vn -0.8148 -0.5798 0.0003
+vn -0.8147 -0.5799 0.0003
+vn -0.8145 -0.5801 0.0004
+vn -0.6381 -0.7700 0.0005
+vn -0.6380 -0.7700 0.0005
+vn -0.6997 -0.7144 0.0005
+vn -0.6971 -0.7170 -0.0000
+vn -0.6926 -0.7213 -0.0008
+vn -0.6902 -0.7237 -0.0012
+vn -0.6301 -0.7766 0.0005
+vn -0.6296 -0.7769 0.0006
+vn -0.6287 -0.7776 0.0005
+vn -0.5179 -0.8554 -0.0003
+vn -0.5536 -0.8328 -0.0020
+vn -0.5796 -0.8149 -0.0039
+vn -0.5406 -0.8413 -0.0004
+vn -0.6101 -0.7923 0.0005
+vn -0.6263 -0.7796 0.0005
+vn -0.5976 -0.8018 -0.0052
+vn -0.6230 -0.7822 -0.0006
+vn -0.3118 -0.9501 0.0006
+vn -0.3694 -0.9293 -0.0009
+vn -0.3686 -0.9296 -0.0009
+vn -0.3704 -0.9289 -0.0010
+vn -0.3714 -0.9285 -0.0011
+vn -0.4279 -0.9038 0.0006
+vn -0.4783 -0.8782 0.0006
+vn -0.1193 -0.9928 -0.0059
+vn -0.1892 -0.9819 0.0006
+vn -0.0839 -0.9965 0.0006
+vn -0.2619 -0.9650 -0.0106
+vn -0.2229 -0.9748 0.0006
+vn -0.1669 -0.9860 -0.0026
+vn -0.1486 -0.9889 -0.0038
+vn -0.2092 -0.9779 0.0056
+vn -0.1900 -0.9817 0.0122
+vn -0.1717 -0.9849 0.0200
+vn -0.1184 -0.9930 0.0006
+vn -0.1740 -0.9847 -0.0081
+vn -0.1244 -0.9922 0.0127
+vn -0.2394 -0.9708 -0.0171
+vn -0.2390 -0.9709 -0.0172
+vn -0.0840 -0.9965 0.0006
+vn -0.0533 -0.9986 0.0034
+vn -0.0559 -0.9984 0.0027
+vn -0.0496 -0.9988 0.0051
+vn -0.0479 -0.9988 0.0044
+vn -0.0190 -0.9998 0.0007
+vn 0.0476 -0.9989 0.0006
+vn 0.0199 -0.9998 0.0099
+vn 0.0560 -0.9984 0.0027
+vn 0.0840 -0.9965 0.0006
+vn 0.1184 -0.9930 0.0006
+vn 0.1740 -0.9847 -0.0081
+vn 0.2101 -0.9777 0.0057
+vn 0.2308 -0.9725 -0.0323
+vn 0.1427 -0.9892 0.0327
+vn 0.2869 -0.9570 -0.0429
+vn 0.1722 -0.9849 0.0204
+vn 0.1907 -0.9816 0.0125
+vn 0.2642 -0.9644 -0.0108
+vn 0.2245 -0.9745 0.0007
+vn 0.3092 -0.9510 0.0007
+vn 0.1133 -0.9936 0.0006
+vn 0.1896 -0.9819 -0.0007
+vn 0.1484 -0.9889 -0.0038
+vn 0.1668 -0.9860 -0.0026
+vn 0.3718 -0.9283 0.0006
+vn 0.4246 -0.9054 -0.0039
+vn 0.3685 -0.9296 -0.0009
+vn 0.5535 -0.8329 -0.0020
+vn 0.5180 -0.8554 -0.0003
+vn 0.4783 -0.8782 0.0006
+vn 0.6256 -0.7802 0.0005
+vn 0.5406 -0.8413 0.0005
+vn 0.5962 -0.8029 -0.0054
+vn 0.5796 -0.8149 -0.0039
+vn 0.0527 -0.9986 0.0002
+vn 0.0554 -0.9985 0.0003
+vn 0.0494 -0.9988 0.0001
+vn 0.0476 -0.9989 0.0001
+vn 0.0192 -0.9998 0.0006
+vn -0.0476 -0.9989 0.0006
+vn -0.0193 -0.9998 -0.0006
+vn -0.0553 -0.9985 0.0003
+vn -0.0000 -0.0007 -1.0000
+vn -0.0001 -0.0007 -1.0000
+vn 0.0000 -0.0006 -1.0000
+vn 0.0002 -0.0007 -1.0000
+vn 0.0001 -0.0007 -1.0000
+vn 0.0001 -0.0008 -1.0000
+vn -0.0000 -0.0008 -1.0000
+vn -0.0000 -0.0010 -1.0000
+vn 0.0002 -0.0006 -1.0000
+vn -0.0002 -0.0004 -1.0000
+vn 0.0003 -0.0007 -1.0000
+vn 0.0003 -0.0006 -1.0000
+vn 0.0001 -0.0005 -1.0000
+vn 0.0000 -0.0005 -1.0000
+vn -0.0001 -0.0005 -1.0000
+vn -0.0003 -0.0006 -1.0000
+vn -0.0003 -0.0007 -1.0000
+vn 0.0002 -0.0004 -1.0000
+vn -0.0001 -0.0006 -1.0000
+vn 0.0001 -0.0010 -1.0000
+vn -0.0001 -0.0008 -1.0000
+vn -0.0002 -0.0007 -1.0000
+vn 0.0002 0.0007 1.0000
+vn -0.0000 0.0005 1.0000
+vn -0.0000 0.0009 1.0000
+vn -0.0000 0.0006 1.0000
+vn -0.0002 0.0002 1.0000
+vn 0.0000 0.0007 1.0000
+vn -0.0000 0.0008 1.0000
+vn 0.0002 0.0008 1.0000
+vn -0.0000 0.0004 1.0000
+vn 0.0001 0.0008 1.0000
+vn -0.0001 0.0005 1.0000
+vn 0.0001 0.0010 1.0000
+vn 0.0001 0.0007 1.0000
+vn -0.0002 -1.0000 0.0005
+vn 0.0001 -1.0000 0.0008
+vn 0.0000 -1.0000 0.0007
+vn 0.0001 -1.0000 0.0005
+vn -0.0000 -1.0000 0.0008
+vn -0.0000 -1.0000 0.0006
+vn -0.0001 -1.0000 0.0008
+vn -0.0001 -1.0000 0.0003
+vn -0.0000 -1.0000 0.0005
+vn -0.0001 -1.0000 0.0006
+vn 0.0001 -1.0000 0.0010
+vn 0.0001 -1.0000 0.0006
+vn 0.0002 -1.0000 0.0005
+vn 0.0000 1.0000 -0.0007
+vn -0.0000 1.0000 -0.0005
+vn -0.0000 1.0000 -0.0006
+vn -0.0001 1.0000 -0.0007
+vn 0.0002 1.0000 -0.0007
+vn -0.0003 1.0000 -0.0005
+vn -0.0000 1.0000 -0.0008
+vn 0.0001 1.0000 -0.0005
+vn -0.0001 1.0000 -0.0008
+vn -0.0001 1.0000 -0.0003
+vn -0.0002 1.0000 -0.0005
+vn 0.0001 1.0000 -0.0008
+vn 0.0001 1.0000 -0.0010
+vn 0.0001 1.0000 -0.0006
+vn 0.0002 1.0000 -0.0005
+vn 0.0000 0.0000 1.0000
+vn -0.9218 0.0003 0.3877
+vn 0.9984 -0.0000 0.0564
+vn 0.7729 0.6286 0.0867
+vn 0.9842 -0.0458 0.1709
+vn 0.9842 -0.0458 0.1710
+vn 0.9842 -0.0458 0.1711
+vn 0.9516 0.0546 0.3024
+vn 0.9365 0.1249 0.3276
+vn 0.9218 0.0003 0.3877
+vn 0.8752 0.0004 0.4838
+vn 0.8454 0.0553 0.5312
+vn 0.8154 0.0003 0.5789
+vn 0.7515 0.0004 0.6597
+vn 0.7067 0.0331 0.7067
+vn 0.6729 0.0004 0.7397
+vn 0.5807 0.0005 0.8141
+vn 0.5319 0.0241 0.8465
+vn 0.4856 0.0006 0.8742
+vn 0.4858 0.0006 0.8741
+vn 0.4853 0.0006 0.8744
+vn 0.3302 0.0199 0.9437
+vn 0.3831 0.0006 0.9237
+vn 0.4851 0.0006 0.8745
+vn 0.1118 0.0162 0.9936
+vn 0.1859 0.0006 0.9826
+vn 0.2775 0.0006 0.9607
+vn -0.1117 0.0163 0.9936
+vn -0.0747 0.0006 0.9972
+vn 0.0747 0.0006 0.9972
+vn -0.3302 0.0198 0.9437
+vn -0.2775 0.0006 0.9607
+vn -0.1859 0.0006 0.9826
+vn -0.4895 0.0023 0.8720
+vn -0.3878 -0.0011 0.9217
+vn -0.3880 -0.0011 0.9217
+vn -0.3877 -0.0011 0.9218
+vn -0.3876 -0.0011 0.9218
+vn -0.5689 0.0434 0.8212
+vn -0.5320 0.0005 0.8467
+vn -0.6728 0.0004 0.7398
+vn -0.7067 0.0330 0.7067
+vn -0.7515 0.0004 0.6597
+vn -0.8468 0.0000 0.5320
+vn -0.8589 0.0836 0.5053
+vn -0.8154 0.0002 0.5789
+vn -0.9374 0.1567 0.3111
+vn -0.9434 0.0315 0.3301
+vn -0.9593 0.0003 0.2822
+vn -0.9858 0.0002 0.1679
+vn -0.7730 0.6284 0.0867
+vn -0.9984 0.0000 0.0564
+vn 0.9236 0.0003 0.3833
+vn -0.9984 0.0000 0.0568
+vn -0.7729 -0.6285 0.0875
+vn -0.9608 0.0003 0.2773
+vn -0.9356 -0.1321 0.3275
+vn -0.9236 0.0002 0.3833
+vn -0.8762 0.0004 0.4820
+vn -0.8454 -0.0551 0.5313
+vn -0.8166 0.0005 0.5772
+vn -0.7458 0.0004 0.6661
+vn -0.7067 -0.0316 0.7068
+vn -0.6510 0.0127 0.7589
+vn -0.6506 0.0127 0.7593
+vn -0.6507 0.0127 0.7592
+vn -0.6508 0.0127 0.7592
+vn -0.5327 -0.0189 0.8461
+vn -0.5321 -0.0170 0.8465
+vn -0.5389 -0.0233 0.8420
+vn -0.5408 -0.0244 0.8408
+vn -0.3303 -0.0163 0.9437
+vn -0.3665 0.0006 0.9304
+vn -0.4728 0.0006 0.8812
+vn 0.0358 0.0045 0.9994
+vn 0.0363 0.0045 0.9993
+vn 0.0356 0.0044 0.9994
+vn -0.0708 -0.0038 0.9975
+vn -0.1117 -0.0169 0.9936
+vn -0.1680 0.0006 0.9858
+vn -0.2601 0.0006 0.9656
+vn 0.1119 -0.0166 0.9936
+vn 0.0351 0.0044 0.9994
+vn 0.3303 -0.0163 0.9437
+vn 0.2601 0.0006 0.9656
+vn 0.1608 0.0006 0.9870
+vn 0.5595 -0.0315 0.8282
+vn 0.5597 -0.0315 0.8281
+vn 0.5596 -0.0315 0.8281
+vn 0.4726 0.0006 0.8813
+vn 0.3665 0.0006 0.9304
+vn 0.5595 -0.0314 0.8282
+vn 0.5320 0.0005 0.8467
+vn 0.6663 0.0005 0.7457
+vn 0.7068 -0.0319 0.7067
+vn 0.7456 0.0005 0.6664
+vn 0.8468 0.0005 0.5320
+vn 0.8591 -0.0857 0.5045
+vn 0.8166 0.0005 0.5772
+vn 0.9353 -0.1727 0.3087
+vn 0.9439 0.0003 0.3303
+vn 0.9858 0.0002 0.1679
+vn 0.7731 -0.6282 0.0875
+vn 0.9984 0.0000 0.0568
+vn 0.9937 0.0001 0.1121
+vn 0.3304 0.0006 0.9438
+vn 0.2223 -0.0177 0.9748
+vn 0.5005 0.0005 0.8657
+vn 0.6234 -0.0162 0.7817
+vn 0.6809 0.0005 0.7324
+vn 0.9009 0.0003 0.4339
+vn 0.9425 -0.0377 0.3319
+vn 0.8466 0.0006 0.5322
+vn 0.9929 -0.0388 -0.1124
+vn 1.0000 0.0000 0.0000
+vn 0.9438 -0.0002 -0.3304
+vn 0.9008 -0.0195 -0.4337
+vn 0.8466 0.0000 -0.5323
+vn 0.6809 -0.0005 -0.7323
+vn 0.6234 -0.0172 -0.7817
+vn 0.5009 -0.0005 -0.8655
+vn 0.3303 -0.0006 -0.9439
+vn 0.2224 -0.0189 -0.9748
+vn 0.1120 -0.0006 -0.9937
+vn -0.1120 -0.0006 -0.9937
+vn -0.2225 -0.0189 -0.9748
+vn -0.3300 -0.0006 -0.9440
+vn -0.5009 -0.0005 -0.8655
+vn -0.6234 -0.0172 -0.7817
+vn -0.6809 -0.0005 -0.7323
+vn -0.9998 -0.0200 0.0001
+vn -0.9937 -0.0001 -0.1119
+vn -0.9009 -0.0003 -0.4339
+vn -0.9425 -0.0380 -0.3322
+vn -0.8466 0.0000 -0.5323
+vn -0.9008 -0.0190 0.4338
+vn -0.9438 0.0002 0.3305
+vn -0.9937 0.0001 0.1120
+vn -0.6234 -0.0162 0.7817
+vn -0.6809 0.0005 0.7324
+vn -0.8466 0.0006 0.5322
+vn 0.1119 0.0006 0.9937
+vn -0.1123 0.0006 0.9937
+vn -0.2223 -0.0177 0.9748
+vn -0.3309 0.0006 0.9437
+vn -0.5005 0.0005 0.8658
+vn -0.9937 0.0001 0.1121
+vn -0.3304 0.0006 0.9438
+vn -0.2225 0.0190 0.9747
+vn -0.5322 0.0006 0.8466
+vn -0.6233 0.0192 0.7817
+vn -0.7071 0.0005 0.7071
+vn -0.9009 0.0003 0.4339
+vn -0.9426 0.0381 0.3319
+vn -0.8468 0.0003 0.5319
+vn -0.9929 0.0387 -0.1124
+vn -1.0000 0.0000 0.0000
+vn -0.9438 -0.0002 -0.3305
+vn -0.9008 0.0190 -0.4338
+vn -0.8466 -0.0006 -0.5323
+vn -0.7073 -0.0008 -0.7069
+vn -0.6235 0.0182 -0.7817
+vn -0.5315 -0.0006 -0.8471
+vn -0.3309 -0.0006 -0.9437
+vn -0.2225 0.0177 -0.9748
+vn -0.1123 -0.0006 -0.9937
+vn 0.1121 -0.0006 -0.9937
+vn 0.2225 0.0177 -0.9748
+vn 0.3307 -0.0007 -0.9437
+vn 0.5316 -0.0006 -0.8470
+vn 0.6235 0.0182 -0.7817
+vn 0.7073 -0.0008 -0.7069
+vn 0.9998 0.0194 -0.0000
+vn 0.9937 -0.0001 -0.1119
+vn 0.9010 -0.0003 -0.4338
+vn 0.9424 0.0376 -0.3323
+vn 0.8466 -0.0006 -0.5323
+vn 0.9008 0.0195 0.4338
+vn 0.9438 0.0002 0.3306
+vn 0.9937 0.0001 0.1119
+vn 0.9937 0.0000 0.1119
+vn 0.6234 0.0192 0.7817
+vn 0.7073 0.0005 0.7069
+vn 0.8466 0.0003 0.5323
+vn -0.1117 0.0007 0.9937
+vn 0.1120 0.0007 0.9937
+vn 0.2225 0.0190 0.9747
+vn 0.3308 0.0006 0.9437
+vn 0.5321 0.0006 0.8467
+vn 0.9659 -0.2590 0.0001
+vn 0.7069 -0.7073 0.0000
+vn 0.7071 -0.7071 0.0000
+vn 0.2590 -0.9659 -0.0001
+vn -0.2590 -0.9659 -0.0002
+vn -0.7071 -0.7071 -0.0002
+vn -0.9660 -0.2585 -0.0002
+vn -0.9659 -0.2590 -0.0002
+vn -0.9660 0.2585 -0.0001
+vn -0.9659 0.2590 -0.0001
+vn -0.7069 0.7073 -0.0000
+vn -0.7071 0.7071 -0.0000
+vn -0.2590 0.9659 0.0001
+vn 0.2590 0.9659 0.0002
+vn 0.7071 0.7071 0.0002
+vn 0.9659 0.2590 0.0002
+vn -0.0002 -0.0001 1.0000
+vn 0.0000 -0.0001 1.0000
+vn -0.0002 -0.0000 1.0000
+vn -0.0002 0.0001 1.0000
+vn 0.0000 -0.0002 1.0000
+vn -0.0001 -0.0002 1.0000
+vn -0.0001 0.0001 1.0000
+usemtl tool_roll_linkmat
+s 1
+f 1//1 2//2 3//3
+f 3//3 2//2 4//4
+f 3//5 4//6 5//7
+f 2//2 6//8 7//9
+f 4//6 8//10 5//7
+f 5//11 8//12 9//11
+f 5//11 9//11 10//13
+f 10//14 9//15 11//16
+f 10//14 11//16 12//15
+f 12//17 11//18 13//19
+f 12//17 13//19 14//19
+f 14//20 13//21 15//21
+f 14//20 15//21 16//20
+f 16//22 15//23 17//22
+f 16//22 17//22 18//23
+f 18//24 17//25 19//26
+f 18//24 19//26 20//27
+f 20//28 19//28 21//29
+f 20//28 21//29 22//28
+f 22//30 21//31 23//32
+f 22//30 23//32 24//33
+f 25//34 26//34 27//34
+f 28//35 29//35 30//35
+f 30//36 31//36 32//36
+f 24//37 23//37 32//37
+f 32//38 23//38 25//38
+f 32//39 25//39 30//39
+f 30//40 25//40 27//40
+f 30//41 27//41 28//41
+f 33//42 34//43 35//44
+f 35//45 36//45 33//45
+f 33//46 36//46 37//46
+f 33//47 37//47 25//47
+f 25//48 37//48 38//48
+f 25//49 38//49 26//49
+f 34//43 33//42 39//44
+f 39//50 33//50 40//50
+f 39//51 40//51 41//51
+f 42//52 43//52 40//52
+f 44//53 45//53 40//53
+f 40//54 45//54 46//54
+f 40//55 46//55 42//55
+f 43//56 47//57 40//58
+f 40//58 47//57 48//59
+f 40//60 48//60 41//60
+f 47//61 49//62 48//63
+f 48//63 49//62 50//64
+f 48//65 50//65 51//65
+f 52//66 53//66 54//66
+f 52//67 54//67 55//67
+f 51//68 56//68 48//68
+f 48//69 56//69 57//69
+f 48//70 57//70 58//70
+f 58//71 57//71 59//71
+f 58//72 59//72 60//72
+f 60//73 59//74 61//75
+f 60//73 61//75 62//76
+f 62//76 61//75 63//76
+f 63//77 61//77 64//77
+f 63//78 64//78 65//78
+f 65//79 64//79 66//79
+f 66//80 64//80 67//80
+f 66//81 67//81 54//81
+f 54//82 67//82 68//82
+f 54//83 68//83 55//83
+f 69//84 70//85 71//86
+f 70//85 72//87 71//86
+f 71//88 72//88 73//88
+f 71//89 73//89 74//89
+f 74//90 75//90 71//90
+f 71//91 75//91 76//91
+f 71//92 76//92 77//92
+f 77//93 76//93 78//93
+f 77//94 78//94 40//94
+f 40//95 78//95 79//95
+f 40//96 79//96 44//96
+f 80//97 81//97 71//97
+f 71//98 81//98 82//98
+f 53//99 69//100 54//101
+f 54//101 69//100 71//102
+f 54//103 71//103 83//103
+f 83//104 71//104 82//104
+f 84//105 85//105 80//105
+f 80//106 85//106 86//106
+f 86//107 87//107 80//107
+f 80//108 87//108 88//108
+f 80//108 88//108 81//108
+f 89//109 90//109 91//109
+f 91//110 90//110 84//110
+f 91//111 84//111 92//111
+f 93//112 94//112 90//112
+f 90//113 94//113 95//113
+f 90//114 95//114 84//114
+f 84//115 95//115 96//115
+f 84//116 96//116 85//116
+f 84//117 97//117 92//117
+f 92//118 97//119 98//120
+f 92//118 98//120 99//121
+f 99//122 98//123 100//122
+f 99//122 100//122 101//122
+f 101//124 100//125 102//124
+f 101//124 102//124 103//126
+f 103//127 102//127 104//128
+f 103//127 104//128 105//129
+f 105//130 104//131 106//130
+f 105//130 106//130 107//131
+f 107//132 106//133 108//133
+f 107//132 108//133 109//134
+f 109//135 108//136 110//137
+f 109//135 110//137 111//136
+f 111//138 110//139 112//140
+f 111//138 112//140 113//141
+f 114//142 115//143 116//142
+f 113//144 112//145 116//146
+f 116//146 112//145 117//147
+f 116//148 117//149 114//150
+f 118//151 119//151 120//151
+f 120//152 121//152 118//152
+f 118//153 121//153 122//153
+f 118//154 122//154 117//154
+f 117//155 122//155 123//155
+f 117//149 123//156 114//150
+f 114//157 123//157 124//157
+f 114//158 124//158 125//158
+f 126//159 127//159 128//159
+f 128//160 127//161 129//162
+f 128//160 129//162 118//163
+f 118//164 129//164 130//164
+f 118//165 130//165 119//165
+f 131//166 128//166 132//166
+f 132//167 128//167 133//167
+f 132//168 133//168 134//168
+f 135//169 126//169 136//169
+f 136//170 126//170 128//170
+f 136//171 128//171 137//171
+f 137//172 128//172 131//172
+f 135//173 138//173 126//173
+f 126//174 138//174 139//174
+f 126//175 139//175 140//175
+f 141//176 142//176 143//176
+f 143//177 142//177 144//177
+f 143//178 144//178 140//178
+f 140//179 144//180 145//179
+f 140//179 145//179 126//179
+f 143//181 146//181 141//181
+f 141//182 146//183 147//184
+f 141//182 147//184 148//185
+f 148//186 147//186 149//186
+f 148//187 149//187 150//187
+f 150//188 149//188 151//188
+f 151//189 152//189 150//189
+f 150//190 152//190 153//190
+f 150//191 153//191 154//191
+f 154//192 153//192 155//192
+f 156//193 157//193 158//193
+f 155//194 153//194 159//194
+f 159//195 153//195 160//195
+f 159//196 160//196 158//196
+f 158//197 160//197 161//197
+f 158//198 161//198 156//198
+f 157//199 162//199 158//199
+f 158//200 162//200 163//200
+f 158//201 163//201 164//201
+f 165//202 166//202 167//202
+f 167//203 166//203 163//203
+f 167//204 163//204 168//204
+f 168//205 163//205 162//205
+f 169//206 170//206 163//206
+f 163//207 170//207 171//207
+f 163//208 171//208 164//208
+f 172//209 173//209 169//209
+f 169//210 173//210 174//210
+f 169//211 174//211 170//211
+f 2//2 7//9 4//4
+f 4//4 7//9 175//212
+f 4//213 175//213 169//213
+f 169//214 175//214 176//214
+f 169//215 176//215 172//215
+f 165//190 177//190 166//190
+f 166//216 177//217 178//218
+f 166//216 178//218 179//219
+f 179//220 178//220 180//220
+f 179//221 180//221 133//221
+f 133//222 180//222 181//222
+f 133//223 181//223 134//223
+f 179//224 133//225 182//226
+f 169//226 163//227 182//226
+f 182//226 163//227 166//228
+f 182//226 166//228 179//224
+f 9//229 8//230 182//226
+f 182//226 8//230 4//231
+f 182//226 4//231 169//226
+f 15//226 13//228 182//226
+f 182//226 13//228 11//224
+f 182//226 11//224 9//229
+f 21//226 19//224 182//226
+f 182//226 19//224 17//232
+f 182//226 17//232 15//226
+f 33//233 25//234 182//226
+f 182//226 25//234 23//235
+f 182//226 23//235 21//226
+f 71//236 77//237 182//226
+f 182//226 77//237 40//238
+f 182//226 40//238 33//233
+f 97//239 84//240 182//226
+f 182//226 84//240 80//241
+f 182//226 80//241 71//236
+f 102//242 100//224 182//226
+f 182//226 100//224 98//226
+f 182//226 98//226 97//239
+f 108//224 106//225 182//226
+f 182//226 106//225 104//226
+f 182//226 104//226 102//242
+f 117//243 112//230 182//226
+f 182//226 112//230 110//244
+f 182//226 110//244 108//224
+f 133//225 128//245 182//226
+f 182//226 128//245 118//239
+f 182//226 118//239 117//243
+f 12//246 14//247 92//248
+f 99//249 101//249 5//250
+f 116//247 3//247 113//247
+f 113//247 3//247 5//250
+f 99//249 5//250 92//248
+f 92//248 5//250 10//251
+f 92//248 10//251 12//246
+f 32//249 91//249 24//252
+f 24//252 91//249 92//248
+f 24//252 92//248 22//249
+f 22//249 92//248 20//251
+f 14//247 16//253 92//248
+f 92//248 16//253 18//254
+f 92//248 18//254 20//251
+f 107//255 109//256 5//250
+f 5//250 109//256 111//257
+f 5//250 111//257 113//247
+f 101//249 103//258 5//250
+f 5//250 103//258 105//256
+f 5//250 105//256 107//255
+f 183//259 184//260 32//261
+f 185//262 186//263 187//263
+f 188//264 189//265 190//264
+f 190//264 189//265 191//264
+f 190//264 191//264 192//266
+f 89//261 91//261 193//267
+f 193//267 91//261 32//261
+f 193//267 32//261 194//267
+f 194//267 32//261 184//260
+f 187//263 186//263 195//268
+f 195//268 186//263 196//259
+f 195//268 196//259 197//259
+f 31//261 190//264 32//261
+f 32//261 190//264 192//266
+f 32//261 192//266 183//259
+f 194//267 198//267 193//267
+f 193//267 198//267 199//264
+f 193//267 199//264 200//260
+f 200//260 199//264 201//264
+f 202//267 203//267 201//264
+f 201//264 203//267 204//269
+f 201//264 204//269 200//260
+f 187//263 205//270 185//262
+f 185//262 205//270 206//271
+f 185//262 206//271 202//267
+f 202//267 206//271 207//267
+f 202//267 207//267 203//267
+f 188//264 190//264 196//259
+f 196//259 190//264 208//270
+f 196//259 208//270 209//261
+f 209//261 210//267 196//259
+f 196//259 210//267 211//267
+f 196//259 211//267 197//259
+f 1//272 3//272 212//273
+f 212//273 3//272 116//272
+f 213//274 214//274 215//275
+f 215//275 214//274 216//276
+f 215//275 216//276 217//274
+f 217//274 218//274 215//275
+f 215//275 218//274 219//277
+f 215//275 219//277 220//278
+f 221//274 215//275 222//272
+f 222//272 215//275 220//278
+f 222//272 220//278 223//278
+f 223//278 220//278 224//279
+f 221//274 225//280 215//275
+f 215//275 225//280 226//274
+f 215//275 226//274 227//281
+f 115//272 215//275 116//272
+f 116//272 215//275 227//281
+f 116//272 227//281 228//282
+f 212//273 229//274 230//283
+f 230//283 229//274 231//274
+f 228//282 232//283 116//272
+f 116//272 232//283 233//273
+f 116//272 233//273 212//273
+f 212//273 233//273 234//273
+f 212//273 234//273 229//274
+f 235//273 236//273 231//274
+f 231//274 236//273 237//284
+f 231//274 237//284 230//283
+f 220//278 238//285 224//279
+f 224//279 238//285 239//286
+f 224//279 239//286 235//273
+f 235//273 239//286 240//273
+f 235//273 240//273 236//273
+f 215//287 115//287 114//287
+f 122//288 121//288 214//288
+f 2//289 212//289 6//289
+f 6//290 212//290 230//290
+f 6//291 230//292 7//292
+f 7//292 230//292 175//293
+f 175//294 230//294 176//294
+f 176//295 230//295 237//295
+f 176//296 237//296 172//296
+f 172//297 237//297 173//297
+f 173//298 237//298 236//298
+f 173//299 236//299 174//299
+f 174//300 236//300 170//300
+f 170//301 236//301 240//301
+f 170//302 240//302 171//302
+f 171//303 240//303 164//303
+f 164//304 240//304 239//304
+f 164//305 239//306 158//307
+f 238//308 155//308 239//308
+f 239//309 155//309 159//309
+f 239//306 159//310 158//307
+f 220//311 150//311 238//311
+f 238//312 150//312 154//312
+f 238//313 154//313 155//313
+f 219//314 141//314 220//314
+f 220//315 141//315 148//315
+f 220//316 148//316 150//316
+f 218//317 144//317 219//317
+f 219//318 144//318 142//318
+f 219//319 142//319 141//319
+f 127//320 126//320 218//320
+f 218//321 126//322 145//323
+f 218//321 145//323 144//324
+f 127//325 218//325 129//325
+f 129//326 218//326 217//326
+f 129//327 217//327 130//327
+f 130//328 217//328 216//328
+f 130//329 216//329 119//329
+f 214//330 121//330 216//330
+f 216//331 121//331 120//331
+f 216//332 120//332 119//332
+f 122//333 214//333 123//333
+f 123//334 214//334 213//334
+f 123//335 213//335 124//335
+f 124//336 213//336 125//336
+f 125//337 213//337 215//337
+f 125//338 215//338 114//338
+f 212//287 2//287 1//287
+f 190//287 31//287 30//287
+f 27//339 26//339 209//339
+f 90//340 193//340 93//340
+f 93//341 193//341 200//341
+f 93//336 200//336 94//336
+f 94//342 200//342 95//342
+f 95//343 200//343 204//343
+f 95//344 204//344 96//344
+f 96//345 204//345 85//345
+f 85//346 204//346 203//346
+f 85//347 203//347 86//347
+f 86//348 203//348 87//348
+f 87//349 203//349 207//349
+f 87//350 207//351 88//352
+f 88//352 207//351 81//353
+f 81//354 207//355 206//356
+f 81//354 206//356 82//357
+f 205//358 54//358 206//358
+f 206//359 54//359 83//359
+f 206//360 83//360 82//360
+f 62//361 63//362 187//363
+f 187//364 63//364 65//364
+f 187//365 65//365 205//365
+f 205//366 65//366 66//366
+f 205//367 66//367 54//367
+f 195//368 60//368 187//368
+f 187//363 60//369 62//361
+f 197//370 48//370 195//370
+f 195//371 48//371 58//371
+f 195//372 58//372 60//372
+f 34//373 39//374 197//375
+f 197//376 39//376 41//376
+f 197//377 41//377 48//377
+f 34//373 197//375 35//378
+f 35//379 197//379 211//379
+f 35//380 211//380 36//380
+f 36//381 211//381 210//381
+f 36//382 210//382 37//382
+f 209//383 26//383 210//383
+f 210//384 26//384 38//384
+f 210//385 38//385 37//385
+f 27//386 209//386 28//386
+f 28//387 209//387 208//387
+f 28//388 208//388 29//388
+f 29//389 208//389 190//389
+f 29//390 190//390 30//390
+f 193//287 90//287 89//287
+f 135//391 136//391 226//391
+f 134//392 181//392 228//392
+f 228//393 181//393 232//393
+f 134//394 228//394 132//394
+f 132//395 228//395 227//395
+f 132//396 227//396 131//396
+f 226//397 136//397 227//397
+f 227//398 136//398 137//398
+f 227//399 137//399 131//399
+f 135//400 226//400 138//400
+f 138//401 226//401 225//401
+f 138//402 225//402 139//402
+f 139//403 225//403 221//403
+f 139//404 221//404 140//404
+f 140//405 221//405 143//405
+f 143//406 221//406 222//406
+f 143//407 222//407 146//407
+f 146//408 222//408 147//408
+f 147//409 222//409 223//409
+f 147//410 223//410 149//410
+f 149//411 223//411 151//411
+f 151//412 223//412 224//412
+f 151//413 224//413 152//413
+f 152//414 224//414 153//414
+f 153//415 224//415 235//415
+f 153//416 235//416 160//416
+f 229//417 157//417 231//417
+f 231//418 157//418 156//418
+f 231//419 156//419 235//419
+f 235//420 156//420 161//420
+f 235//421 161//421 160//421
+f 234//422 168//422 229//422
+f 229//423 168//423 162//423
+f 229//424 162//424 157//424
+f 233//425 165//425 234//425
+f 234//426 165//426 167//426
+f 234//427 167//427 168//427
+f 181//428 180//428 232//428
+f 232//429 180//429 178//429
+f 232//430 178//430 233//430
+f 233//431 178//431 177//431
+f 233//432 177//432 165//432
+f 47//433 43//433 191//433
+f 44//434 79//434 183//434
+f 183//435 79//435 184//435
+f 44//436 183//436 45//436
+f 45//437 183//437 192//437
+f 45//438 192//438 46//438
+f 191//439 43//439 192//439
+f 192//440 43//440 42//440
+f 192//441 42//441 46//441
+f 47//442 191//442 49//442
+f 49//443 191//443 189//443
+f 49//444 189//444 50//444
+f 50//445 189//445 188//445
+f 50//446 188//446 51//446
+f 51//447 188//447 56//447
+f 56//448 188//448 196//448
+f 56//449 196//449 57//449
+f 57//450 196//450 59//450
+f 59//451 196//451 186//451
+f 59//452 186//452 61//452
+f 61//453 186//453 64//453
+f 64//454 186//454 185//454
+f 64//455 185//455 67//455
+f 67//456 185//456 68//456
+f 68//457 185//457 202//457
+f 68//458 202//458 55//458
+f 199//459 69//459 201//459
+f 201//460 69//460 53//460
+f 201//461 53//461 202//461
+f 202//462 53//462 52//462
+f 202//463 52//463 55//463
+f 198//464 72//464 199//464
+f 199//465 72//465 70//465
+f 199//466 70//467 69//466
+f 194//468 74//468 198//468
+f 198//469 74//469 73//469
+f 198//470 73//470 72//470
+f 79//471 78//471 184//471
+f 184//472 78//472 76//472
+f 184//473 76//473 194//473
+f 194//474 76//474 75//474
+f 194//475 75//475 74//475
+f 241//476 242//476 243//476
+f 243//477 242//477 244//477
+f 243//478 244//478 245//478
+f 245//479 244//479 246//479
+f 245//479 246//479 247//479
+f 247//480 246//480 248//480
+f 247//480 248//480 249//480
+f 249//481 248//481 250//481
+f 249//481 250//481 251//481
+f 251//482 250//482 252//482
+f 251//483 252//483 253//483
+f 253//484 252//484 254//484
+f 253//485 254//485 255//485
+f 255//486 254//486 256//486
+f 255//487 256//487 257//487
+f 257//488 256//488 258//488
+f 257//488 258//488 259//488
+f 259//489 258//489 260//489
+f 259//489 260//489 261//489
+f 261//490 260//490 262//490
+f 261//490 262//490 263//490
+f 263//491 262//491 264//491
+f 263//491 264//491 241//491
+f 241//476 264//476 242//476
+f 256//492 254//493 265//492
+f 265//492 254//493 252//494
+f 265//492 252//494 250//492
+f 262//492 260//495 265//492
+f 265//492 260//495 258//287
+f 265//492 258//287 256//492
+f 244//492 242//287 265//492
+f 265//492 242//287 264//496
+f 265//492 264//496 262//492
+f 250//492 248//497 265//492
+f 265//492 248//497 246//498
+f 265//492 246//498 244//492

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool roll link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_roll_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.300000 0.300000 0.300000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool yaw link simple.OBJ

@@ -0,0 +1,273 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib tool yaw link simple.mtl
+o /ambf/env/psm1/tool_yaw_link_simple_tool_yaw_link
+v 0.000000 0.001906 -0.001906
+v 0.000000 0.001906 0.001906
+v 0.000372 0.001869 0.001906
+v 0.000372 0.001870 -0.001906
+v 0.000729 0.001761 0.001906
+v 0.000729 0.001761 -0.001906
+v 0.001059 0.001585 0.001906
+v 0.001059 0.001585 -0.001906
+v 0.001348 0.001347 0.001906
+v 0.001348 0.001348 -0.001906
+v 0.001585 0.001059 0.001906
+v 0.001585 0.001059 -0.001906
+v 0.001761 0.000729 0.001906
+v 0.001761 0.000730 -0.001906
+v 0.001869 0.000372 0.001906
+v 0.001869 0.000372 -0.001906
+v 0.001906 0.000000 0.001906
+v 0.001906 0.000000 -0.001906
+v 0.001869 -0.000372 0.001906
+v 0.001869 -0.000372 -0.001906
+v 0.001761 -0.000730 0.001906
+v 0.001761 -0.000729 -0.001906
+v 0.001585 -0.001059 0.001906
+v 0.001585 -0.001059 -0.001906
+v 0.001348 -0.001348 0.001906
+v 0.001348 -0.001348 -0.001906
+v 0.001059 -0.001585 0.001906
+v 0.001059 -0.001585 -0.001906
+v 0.000729 -0.001761 0.001906
+v 0.000729 -0.001761 -0.001906
+v 0.000372 -0.001870 0.001906
+v 0.000372 -0.001869 -0.001906
+v 0.000000 -0.001906 0.001906
+v 0.000000 -0.001906 -0.001906
+v -0.000372 -0.001870 0.001906
+v -0.000372 -0.001869 -0.001906
+v -0.000729 -0.001761 0.001906
+v -0.000729 -0.001761 -0.001906
+v -0.001059 -0.001585 0.001906
+v -0.001059 -0.001585 -0.001906
+v -0.001348 -0.001348 0.001906
+v -0.001348 -0.001348 -0.001906
+v -0.001585 -0.001059 0.001906
+v -0.001585 -0.001059 -0.001906
+v -0.001761 -0.000730 0.001906
+v -0.001761 -0.000729 -0.001906
+v -0.001869 -0.000372 0.001906
+v -0.001869 -0.000372 -0.001906
+v -0.001906 0.000000 0.001906
+v -0.001906 0.000000 -0.001906
+v -0.001869 0.000372 0.001906
+v -0.001869 0.000372 -0.001906
+v -0.001761 0.000729 0.001906
+v -0.001761 0.000730 -0.001906
+v -0.001585 0.001059 0.001906
+v -0.001585 0.001059 -0.001906
+v -0.001348 0.001347 0.001906
+v -0.001348 0.001348 -0.001906
+v -0.001059 0.001585 0.001906
+v -0.001059 0.001585 -0.001906
+v -0.000729 0.001761 0.001906
+v -0.000729 0.001761 -0.001906
+v -0.000372 0.001869 0.001906
+v -0.000372 0.001870 -0.001906
+vn 0.0980 0.9952 0.0001
+vn 0.0981 0.9952 0.0001
+vn 0.2903 0.9569 0.0001
+vn 0.2902 0.9570 0.0001
+vn 0.2903 0.9570 0.0001
+vn 0.2904 0.9569 0.0001
+vn 0.4713 0.8819 0.0001
+vn 0.4713 0.8820 0.0001
+vn 0.6342 0.7732 0.0002
+vn 0.6344 0.7730 0.0001
+vn 0.7732 0.6342 0.0000
+vn 0.7730 0.6344 0.0001
+vn 0.7732 0.6341 0.0000
+vn 0.8818 0.4716 0.0001
+vn 0.8820 0.4713 0.0001
+vn 0.8819 0.4714 0.0001
+vn 0.8818 0.4717 0.0001
+vn 0.9569 0.2903 0.0000
+vn 0.9952 0.0980 -0.0000
+vn 0.9952 0.0981 0.0000
+vn 0.9952 -0.0980 0.0000
+vn 0.9952 -0.0981 -0.0000
+vn 0.9569 -0.2903 0.0000
+vn 0.8819 -0.4714 -0.0001
+vn 0.8818 -0.4717 -0.0001
+vn 0.8818 -0.4716 -0.0001
+vn 0.8820 -0.4713 -0.0001
+vn 0.7729 -0.6345 -0.0001
+vn 0.7732 -0.6341 0.0000
+vn 0.6345 -0.7729 -0.0001
+vn 0.6344 -0.7730 -0.0001
+vn 0.4713 -0.8819 -0.0001
+vn 0.4713 -0.8820 -0.0001
+vn 0.2903 -0.9570 -0.0001
+vn 0.2904 -0.9569 -0.0001
+vn 0.2903 -0.9569 -0.0001
+vn 0.2902 -0.9570 -0.0001
+vn 0.0980 -0.9952 -0.0001
+vn 0.0981 -0.9952 -0.0001
+vn -0.0979 -0.9952 -0.0001
+vn -0.0980 -0.9952 -0.0001
+vn -0.2902 -0.9570 -0.0001
+vn -0.2903 -0.9569 -0.0001
+vn -0.4713 -0.8819 -0.0001
+vn -0.4713 -0.8820 -0.0001
+vn -0.6344 -0.7730 -0.0001
+vn -0.6345 -0.7729 -0.0001
+vn -0.7729 -0.6345 -0.0001
+vn -0.7732 -0.6341 0.0000
+vn -0.8820 -0.4712 -0.0001
+vn -0.8818 -0.4717 0.0000
+vn -0.8818 -0.4716 -0.0000
+vn -0.8819 -0.4713 -0.0001
+vn -0.9570 -0.2902 -0.0000
+vn -0.9570 -0.2900 0.0000
+vn -0.9952 -0.0980 -0.0000
+vn -0.9952 -0.0981 0.0000
+vn -0.9952 0.0980 0.0000
+vn -0.9952 0.0981 -0.0000
+vn -0.9570 0.2902 0.0000
+vn -0.9570 0.2900 0.0000
+vn -0.8818 0.4716 0.0000
+vn -0.8819 0.4713 0.0001
+vn -0.8820 0.4712 0.0001
+vn -0.8818 0.4717 0.0000
+vn -0.7732 0.6342 0.0002
+vn -0.7730 0.6344 0.0001
+vn -0.7732 0.6341 0.0002
+vn -0.6345 0.7730 0.0001
+vn -0.6344 0.7730 0.0001
+vn -0.6345 0.7729 0.0001
+vn -0.4713 0.8819 0.0001
+vn -0.4713 0.8820 0.0001
+vn 0.0000 0.0000 1.0000
+vn -0.2903 0.9569 0.0001
+vn -0.2902 0.9570 0.0001
+vn -0.0980 0.9952 0.0001
+vn -0.0979 0.9952 0.0001
+vn 0.0000 0.0000 -1.0000
+usemtl None
+s 1
+f 1//1 2//2 3//1
+f 1//1 3//1 4//1
+f 4//3 3//4 5//5
+f 4//3 5//5 6//6
+f 6//7 5//8 7//7
+f 6//7 7//7 8//7
+f 8//9 7//10 9//10
+f 8//9 9//10 10//10
+f 10//11 9//12 11//12
+f 10//11 11//12 12//13
+f 12//14 11//15 13//16
+f 12//14 13//16 14//17
+f 14//18 13//18 15//18
+f 14//18 15//18 16//18
+f 16//19 15//20 17//19
+f 16//19 17//19 18//20
+f 18//21 17//22 19//21
+f 18//21 19//21 20//22
+f 20//23 19//23 21//23
+f 20//23 21//23 22//23
+f 22//24 21//25 23//26
+f 22//24 23//26 24//27
+f 24//28 23//29 25//28
+f 24//28 25//28 26//29
+f 26//30 25//31 27//31
+f 26//30 27//31 28//30
+f 28//32 27//32 29//32
+f 28//32 29//32 30//33
+f 30//34 29//35 31//36
+f 30//34 31//36 32//37
+f 32//38 31//38 33//38
+f 32//38 33//38 34//39
+f 34//40 33//40 35//41
+f 34//40 35//41 36//41
+f 36//42 35//43 37//43
+f 36//42 37//43 38//42
+f 38//44 37//45 39//44
+f 38//44 39//44 40//44
+f 40//46 39//47 41//47
+f 40//46 41//47 42//46
+f 42//48 41//49 43//48
+f 42//48 43//48 44//49
+f 44//50 43//51 45//52
+f 44//50 45//52 46//53
+f 46//54 45//54 47//54
+f 46//54 47//54 48//55
+f 48//56 47//57 49//56
+f 48//56 49//56 50//57
+f 50//58 49//59 51//58
+f 50//58 51//58 52//59
+f 52//60 51//61 53//60
+f 52//60 53//60 54//60
+f 54//62 53//63 55//64
+f 54//62 55//64 56//65
+f 56//66 55//67 57//67
+f 56//66 57//67 58//68
+f 58//69 57//70 59//70
+f 58//69 59//70 60//71
+f 60//72 59//72 61//72
+f 60//72 61//72 62//73
+f 5//74 3//74 2//74
+f 2//74 63//74 61//74
+f 61//74 59//74 57//74
+f 57//74 55//74 53//74
+f 53//74 51//74 49//74
+f 49//74 47//74 45//74
+f 45//74 43//74 41//74
+f 41//74 39//74 37//74
+f 37//74 35//74 33//74
+f 33//74 31//74 29//74
+f 29//74 27//74 25//74
+f 25//74 23//74 21//74
+f 21//74 19//74 17//74
+f 17//74 15//74 13//74
+f 13//74 11//74 9//74
+f 9//74 7//74 5//74
+f 5//74 2//74 61//74
+f 61//74 57//74 53//74
+f 53//74 49//74 45//74
+f 45//74 41//74 37//74
+f 37//74 33//74 29//74
+f 29//74 25//74 21//74
+f 21//74 17//74 13//74
+f 13//74 9//74 5//74
+f 5//74 61//74 53//74
+f 53//74 45//74 37//74
+f 37//74 29//74 21//74
+f 21//74 13//74 5//74
+f 5//74 53//74 37//74
+f 37//74 21//74 5//74
+f 62//75 61//76 63//76
+f 62//75 63//76 64//75
+f 64//77 63//77 2//78
+f 64//77 2//78 1//78
+f 64//79 1//79 4//79
+f 4//79 6//79 8//79
+f 8//79 10//79 12//79
+f 12//79 14//79 16//79
+f 16//79 18//79 20//79
+f 20//79 22//79 24//79
+f 24//79 26//79 28//79
+f 28//79 30//79 32//79
+f 32//79 34//79 36//79
+f 36//79 38//79 40//79
+f 40//79 42//79 44//79
+f 44//79 46//79 48//79
+f 48//79 50//79 52//79
+f 52//79 54//79 56//79
+f 56//79 58//79 60//79
+f 60//79 62//79 64//79
+f 64//79 4//79 8//79
+f 8//79 12//79 16//79
+f 16//79 20//79 24//79
+f 24//79 28//79 32//79
+f 32//79 36//79 40//79
+f 40//79 44//79 48//79
+f 48//79 52//79 56//79
+f 56//79 60//79 64//79
+f 64//79 8//79 16//79
+f 16//79 24//79 32//79
+f 32//79 40//79 48//79
+f 48//79 56//79 64//79
+f 64//79 16//79 32//79
+f 32//79 48//79 64//79

data/ADF/PSMs/LND_400006_SIMPLE/high_res/tool yaw link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl None
+Ns 499.999983
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/high_res/yaw link simple.OBJ

@@ -0,0 +1,134 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib yaw link simple.mtl
+o /ambf/env/psm1/yaw_link_simple_yaw_link
+v 0.000000 0.010000 -0.025378
+v 0.000000 0.000000 -0.005378
+v 0.001951 0.009808 -0.025378
+v 0.003827 0.009239 -0.025378
+v 0.005556 0.008315 -0.025378
+v 0.007071 0.007071 -0.025378
+v 0.008315 0.005556 -0.025378
+v 0.009239 0.003827 -0.025378
+v 0.009808 0.001951 -0.025378
+v 0.010000 0.000000 -0.025378
+v 0.009808 -0.001951 -0.025378
+v 0.009239 -0.003827 -0.025378
+v 0.008315 -0.005556 -0.025378
+v 0.007071 -0.007071 -0.025378
+v 0.005556 -0.008315 -0.025378
+v 0.003827 -0.009239 -0.025378
+v 0.001951 -0.009808 -0.025378
+v 0.000000 -0.010000 -0.025378
+v -0.001951 -0.009808 -0.025378
+v -0.003827 -0.009239 -0.025378
+v -0.005556 -0.008315 -0.025378
+v -0.007071 -0.007071 -0.025378
+v -0.008315 -0.005556 -0.025378
+v -0.009239 -0.003827 -0.025378
+v -0.009808 -0.001951 -0.025378
+v -0.010000 0.000000 -0.025378
+v -0.009808 0.001951 -0.025378
+v -0.009239 0.003827 -0.025378
+v -0.008315 0.005556 -0.025378
+v -0.007071 0.007071 -0.025378
+v -0.005556 0.008315 -0.025378
+v -0.003827 0.009239 -0.025378
+v -0.001951 0.009808 -0.025378
+vn 0.0877 0.8910 0.4455
+vn 0.2599 0.8567 0.4455
+vn 0.4220 0.7896 0.4455
+vn 0.5681 0.6919 0.4455
+vn 0.6919 0.5681 0.4455
+vn 0.7896 0.4220 0.4455
+vn 0.8567 0.2599 0.4455
+vn 0.8910 0.0880 0.4455
+vn 0.8910 -0.0880 0.4455
+vn 0.8567 -0.2599 0.4455
+vn 0.7896 -0.4220 0.4455
+vn 0.6919 -0.5681 0.4455
+vn 0.5681 -0.6919 0.4455
+vn 0.4220 -0.7896 0.4455
+vn 0.2599 -0.8567 0.4455
+vn 0.0877 -0.8910 0.4455
+vn -0.0877 -0.8910 0.4455
+vn -0.2599 -0.8567 0.4455
+vn -0.4220 -0.7896 0.4455
+vn -0.5681 -0.6919 0.4455
+vn -0.6919 -0.5681 0.4455
+vn -0.7896 -0.4220 0.4455
+vn -0.8567 -0.2599 0.4455
+vn -0.8910 -0.0880 0.4455
+vn -0.8910 0.0880 0.4455
+vn -0.8567 0.2599 0.4455
+vn -0.7896 0.4220 0.4455
+vn -0.6919 0.5681 0.4455
+vn -0.5681 0.6919 0.4455
+vn -0.4220 0.7896 0.4455
+vn -0.2599 0.8567 0.4455
+vn -0.0877 0.8910 0.4455
+vn 0.0000 0.0000 -1.0000
+usemtl yaw_linkmat
+s 1
+f 1//1 2//1 3//1
+f 3//2 2//2 4//2
+f 4//3 2//3 5//3
+f 5//4 2//4 6//4
+f 6//5 2//5 7//5
+f 7//6 2//6 8//6
+f 8//7 2//7 9//7
+f 9//8 2//8 10//8
+f 10//9 2//9 11//9
+f 11//10 2//10 12//10
+f 12//11 2//11 13//11
+f 13//12 2//12 14//12
+f 14//13 2//13 15//13
+f 15//14 2//14 16//14
+f 16//15 2//15 17//15
+f 17//16 2//16 18//16
+f 18//17 2//17 19//17
+f 19//18 2//18 20//18
+f 20//19 2//19 21//19
+f 21//20 2//20 22//20
+f 22//21 2//21 23//21
+f 23//22 2//22 24//22
+f 24//23 2//23 25//23
+f 25//24 2//24 26//24
+f 26//25 2//25 27//25
+f 27//26 2//26 28//26
+f 28//27 2//27 29//27
+f 29//28 2//28 30//28
+f 30//29 2//29 31//29
+f 31//30 2//30 32//30
+f 32//31 2//31 33//31
+f 33//32 2//32 1//32
+f 33//33 1//33 3//33
+f 3//33 4//33 5//33
+f 5//33 6//33 7//33
+f 7//33 8//33 9//33
+f 9//33 10//33 11//33
+f 11//33 12//33 13//33
+f 13//33 14//33 15//33
+f 15//33 16//33 17//33
+f 17//33 18//33 19//33
+f 19//33 20//33 21//33
+f 21//33 22//33 23//33
+f 23//33 24//33 25//33
+f 25//33 26//33 27//33
+f 27//33 28//33 29//33
+f 29//33 30//33 31//33
+f 31//33 32//33 33//33
+f 33//33 3//33 5//33
+f 5//33 7//33 9//33
+f 9//33 11//33 13//33
+f 13//33 15//33 17//33
+f 17//33 19//33 21//33
+f 21//33 23//33 25//33
+f 25//33 27//33 29//33
+f 29//33 31//33 33//33
+f 33//33 5//33 9//33
+f 9//33 13//33 17//33
+f 17//33 21//33 25//33
+f 25//33 29//33 33//33
+f 33//33 9//33 17//33
+f 17//33 25//33 33//33

data/ADF/PSMs/LND_400006_SIMPLE/high_res/yaw link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl yaw_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.612400 0.800000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/base link simple.OBJ

@@ -0,0 +1,134 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib base link simple.mtl
+o /ambf/env/psm1/base_link_simple_base_link
+v 0.000000 -0.025767 -0.009917
+v 0.000000 -0.005767 0.000083
+v 0.001951 -0.025767 -0.009725
+v 0.003827 -0.025767 -0.009156
+v 0.005556 -0.025767 -0.008232
+v 0.007071 -0.025767 -0.006988
+v 0.008315 -0.025767 -0.005473
+v 0.009239 -0.025767 -0.003744
+v 0.009808 -0.025767 -0.001868
+v 0.010000 -0.025767 0.000083
+v 0.009808 -0.025767 0.002034
+v 0.009239 -0.025767 0.003910
+v 0.008315 -0.025767 0.005638
+v 0.007071 -0.025767 0.007154
+v 0.005556 -0.025767 0.008397
+v 0.003827 -0.025767 0.009322
+v 0.001951 -0.025767 0.009891
+v 0.000000 -0.025767 0.010083
+v -0.001951 -0.025767 0.009891
+v -0.003827 -0.025767 0.009322
+v -0.005556 -0.025767 0.008397
+v -0.007071 -0.025767 0.007154
+v -0.008315 -0.025767 0.005638
+v -0.009239 -0.025767 0.003910
+v -0.009808 -0.025767 0.002034
+v -0.010000 -0.025767 0.000083
+v -0.009808 -0.025767 -0.001868
+v -0.009239 -0.025767 -0.003744
+v -0.008315 -0.025767 -0.005473
+v -0.007071 -0.025767 -0.006988
+v -0.005556 -0.025767 -0.008232
+v -0.003827 -0.025767 -0.009156
+v -0.001951 -0.025767 -0.009725
+vn 0.0880 0.4455 -0.8910
+vn 0.2599 0.4455 -0.8567
+vn 0.4220 0.4455 -0.7896
+vn 0.5681 0.4455 -0.6919
+vn 0.6919 0.4455 -0.5681
+vn 0.7896 0.4455 -0.4220
+vn 0.8567 0.4455 -0.2599
+vn 0.8910 0.4455 -0.0877
+vn 0.8910 0.4455 0.0877
+vn 0.8567 0.4455 0.2599
+vn 0.7897 0.4455 0.4217
+vn 0.6921 0.4455 0.5679
+vn 0.5679 0.4455 0.6921
+vn 0.4223 0.4455 0.7894
+vn 0.2599 0.4455 0.8567
+vn 0.0880 0.4455 0.8910
+vn -0.0880 0.4455 0.8910
+vn -0.2599 0.4455 0.8567
+vn -0.4220 0.4455 0.7896
+vn -0.5679 0.4455 0.6921
+vn -0.6921 0.4455 0.5679
+vn -0.7897 0.4455 0.4217
+vn -0.8567 0.4455 0.2599
+vn -0.8910 0.4455 0.0877
+vn -0.8910 0.4455 -0.0877
+vn -0.8567 0.4455 -0.2599
+vn -0.7896 0.4455 -0.4220
+vn -0.6919 0.4455 -0.5681
+vn -0.5681 0.4455 -0.6919
+vn -0.4220 0.4455 -0.7896
+vn -0.2599 0.4455 -0.8567
+vn -0.0880 0.4455 -0.8910
+vn 0.0000 -1.0000 -0.0000
+usemtl base_linkmat
+s 1
+f 1//1 2//1 3//1
+f 3//2 2//2 4//2
+f 4//3 2//3 5//3
+f 5//4 2//4 6//4
+f 6//5 2//5 7//5
+f 7//6 2//6 8//6
+f 8//7 2//7 9//7
+f 9//8 2//8 10//8
+f 10//9 2//9 11//9
+f 11//10 2//10 12//10
+f 12//11 2//11 13//11
+f 13//12 2//12 14//12
+f 14//13 2//13 15//13
+f 15//14 2//14 16//14
+f 16//15 2//15 17//15
+f 17//16 2//16 18//16
+f 18//17 2//17 19//17
+f 19//18 2//18 20//18
+f 20//19 2//19 21//19
+f 21//20 2//20 22//20
+f 22//21 2//21 23//21
+f 23//22 2//22 24//22
+f 24//23 2//23 25//23
+f 25//24 2//24 26//24
+f 26//25 2//25 27//25
+f 27//26 2//26 28//26
+f 28//27 2//27 29//27
+f 29//28 2//28 30//28
+f 30//29 2//29 31//29
+f 31//30 2//30 32//30
+f 32//31 2//31 33//31
+f 33//32 2//32 1//32
+f 33//33 1//33 3//33
+f 3//33 4//33 5//33
+f 5//33 6//33 7//33
+f 7//33 8//33 9//33
+f 9//33 10//33 11//33
+f 11//33 12//33 13//33
+f 13//33 14//33 15//33
+f 15//33 16//33 17//33
+f 17//33 18//33 19//33
+f 19//33 20//33 21//33
+f 21//33 22//33 23//33
+f 23//33 24//33 25//33
+f 25//33 26//33 27//33
+f 27//33 28//33 29//33
+f 29//33 30//33 31//33
+f 31//33 32//33 33//33
+f 33//33 3//33 5//33
+f 5//33 7//33 9//33
+f 9//33 11//33 13//33
+f 13//33 15//33 17//33
+f 17//33 19//33 21//33
+f 21//33 23//33 25//33
+f 25//33 27//33 29//33
+f 29//33 31//33 33//33
+f 33//33 5//33 9//33
+f 9//33 13//33 17//33
+f 17//33 21//33 25//33
+f 25//33 29//33 33//33
+f 33//33 9//33 17//33
+f 17//33 25//33 33//33

data/ADF/PSMs/LND_400006_SIMPLE/low_res/base link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl base_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.937300 0.015700 0.131700
+Ks 0.500053 0.500053 0.500053
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/main insertion link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl main_insertion_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.556900 0.058800
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/pitch end link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl pitch_end_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.141800 0.162700 0.447900
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool gripper1 simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_gripper1_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool gripper2 simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_gripper2_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.500000 0.500000 0.500000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool pitch link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_pitch_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.300000 0.300000 0.300000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool roll link simple.OBJ

@@ -0,0 +1,1289 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib tool roll link simple.mtl
+o /ambf/env/psm1/tool_roll_link_simple_tool_roll_link
+v 0.002696 -0.003221 0.184228
+v 0.002688 -0.003228 0.184228
+v 0.002696 -0.003223 0.181378
+v 0.002609 -0.003296 0.175879
+v 0.003182 -0.002747 0.181378
+v 0.002671 -0.003241 0.184527
+v 0.002618 -0.003283 0.184818
+v 0.003182 -0.002751 0.175878
+v 0.003640 -0.002106 0.175878
+v 0.003640 -0.002103 0.181378
+v 0.003969 -0.001387 0.175877
+v 0.003969 -0.001383 0.181377
+v 0.004155 -0.000618 0.175877
+v 0.004155 -0.000615 0.181377
+v 0.004193 0.000172 0.175876
+v 0.004193 0.000175 0.181376
+v 0.004080 0.000954 0.175876
+v 0.004080 0.000958 0.181376
+v 0.003822 0.001702 0.175875
+v 0.003822 0.001705 0.181375
+v 0.003426 0.002387 0.175875
+v 0.003426 0.002390 0.181375
+v 0.002908 0.002984 0.175875
+v 0.002908 0.002988 0.181375
+v 0.002287 0.003473 0.175874
+v 0.002425 0.003386 0.185374
+v 0.002538 0.003304 0.185103
+v 0.002621 0.003240 0.184814
+v 0.002671 0.003200 0.184523
+v 0.002688 0.003186 0.184224
+v 0.002696 0.003179 0.184224
+v 0.002696 0.003177 0.181374
+v 0.001584 0.003836 0.175874
+v 0.001583 0.003840 0.186370
+v 0.001690 0.003798 0.186296
+v 0.001911 0.003694 0.186098
+v 0.002110 0.003587 0.185876
+v 0.002287 0.003479 0.185626
+v 0.001391 0.003914 0.186502
+v 0.000825 0.004058 0.175874
+v 0.001187 0.003978 0.186611
+v 0.000668 0.004091 0.184670
+v 0.000720 0.004083 0.184818
+v 0.000341 0.004128 0.184343
+v 0.000474 0.004116 0.184427
+v 0.000585 0.004103 0.184537
+v 0.000738 0.004080 0.184974
+v 0.000825 0.004065 0.186754
+v 0.000720 0.004083 0.185130
+v 0.000668 0.004092 0.185278
+v 0.000585 0.004104 0.185410
+v -0.000593 0.004092 0.185278
+v -0.000645 0.004083 0.185130
+v -0.000750 0.004065 0.186754
+v -0.000510 0.004104 0.185410
+v 0.000474 0.004117 0.185521
+v 0.000341 0.004129 0.185604
+v 0.000627 0.004099 0.186807
+v 0.000194 0.004137 0.185656
+v 0.000299 0.004132 0.186861
+v 0.000038 0.004140 0.185674
+v 0.000038 0.004138 0.186870
+v -0.000038 0.004140 0.186873
+v -0.000118 0.004137 0.185656
+v -0.000261 0.004130 0.186857
+v -0.000552 0.004099 0.186807
+v -0.000266 0.004129 0.185604
+v -0.000399 0.004117 0.185521
+v -0.000662 0.004080 0.184974
+v -0.000645 0.004083 0.184818
+v -0.000750 0.004058 0.175874
+v -0.000593 0.004091 0.184670
+v -0.000510 0.004103 0.184537
+v -0.000399 0.004116 0.184427
+v -0.000266 0.004128 0.184343
+v -0.000119 0.004136 0.184291
+v 0.000038 0.004134 0.175874
+v 0.000038 0.004139 0.184274
+v 0.000193 0.004136 0.184291
+v -0.001508 0.003836 0.175874
+v -0.001508 0.003842 0.186376
+v -0.001316 0.003914 0.186502
+v -0.001112 0.003978 0.186611
+v -0.002211 0.003473 0.175874
+v -0.002211 0.003479 0.185626
+v -0.002034 0.003587 0.185876
+v -0.001837 0.003694 0.186097
+v -0.001610 0.003797 0.186290
+v -0.002620 0.003179 0.184224
+v -0.002612 0.003186 0.184224
+v -0.002620 0.003177 0.181374
+v -0.002833 0.002988 0.181375
+v -0.002595 0.003200 0.184523
+v -0.002546 0.003240 0.184814
+v -0.002463 0.003304 0.185102
+v -0.002350 0.003386 0.185374
+v -0.002833 0.002984 0.175875
+v -0.003351 0.002387 0.175875
+v -0.003351 0.002390 0.181375
+v -0.003746 0.001702 0.175875
+v -0.003746 0.001705 0.181375
+v -0.004005 0.000954 0.175876
+v -0.004005 0.000958 0.181376
+v -0.004118 0.000172 0.175876
+v -0.004118 0.000175 0.181376
+v -0.004080 -0.000618 0.175877
+v -0.004080 -0.000615 0.181377
+v -0.003894 -0.001387 0.175877
+v -0.003894 -0.001383 0.181377
+v -0.003565 -0.002106 0.175878
+v -0.003565 -0.002103 0.181378
+v -0.003106 -0.002751 0.175878
+v -0.003106 -0.002747 0.181378
+v -0.002612 -0.003228 0.184228
+v -0.002620 -0.003221 0.184228
+v -0.002620 -0.003223 0.181378
+v -0.002534 -0.003296 0.175879
+v -0.001869 -0.003724 0.175879
+v -0.002034 -0.003627 0.185881
+v -0.002206 -0.003523 0.185639
+v -0.002350 -0.003427 0.185378
+v -0.002454 -0.003352 0.185131
+v -0.002534 -0.003290 0.184859
+v -0.002546 -0.003281 0.184818
+v -0.002595 -0.003241 0.184527
+v -0.001134 -0.004011 0.186606
+v -0.001383 -0.003929 0.186466
+v -0.001134 -0.004018 0.175879
+v -0.001615 -0.003838 0.186301
+v -0.001869 -0.003717 0.186070
+v -0.000510 -0.004145 0.184543
+v -0.000358 -0.004162 0.184401
+v -0.000358 -0.004168 0.175879
+v -0.000266 -0.004170 0.184348
+v -0.000662 -0.004121 0.184979
+v -0.000645 -0.004124 0.184823
+v -0.000593 -0.004133 0.184675
+v -0.000645 -0.004124 0.185135
+v -0.000593 -0.004132 0.185283
+v -0.000510 -0.004144 0.185415
+v -0.000358 -0.004161 0.186849
+v -0.000552 -0.004137 0.186813
+v -0.000358 -0.004161 0.185557
+v -0.000840 -0.004086 0.186730
+v -0.001112 -0.004017 0.186615
+v -0.000266 -0.004169 0.185610
+v -0.000118 -0.004177 0.185661
+v 0.000038 -0.004179 0.186879
+v 0.000038 -0.004180 0.185679
+v 0.000433 -0.004161 0.186849
+v 0.000194 -0.004177 0.185661
+v 0.000341 -0.004169 0.185610
+v 0.000433 -0.004161 0.185557
+v 0.000627 -0.004137 0.186813
+v 0.000915 -0.004086 0.186729
+v 0.000720 -0.004124 0.185135
+v 0.000738 -0.004121 0.184979
+v 0.001209 -0.004010 0.186604
+v 0.001187 -0.004017 0.186617
+v 0.000585 -0.004144 0.185415
+v 0.000668 -0.004132 0.185283
+v 0.000720 -0.004124 0.184823
+v 0.001210 -0.004018 0.175879
+v 0.001458 -0.003930 0.186466
+v 0.000433 -0.004162 0.184401
+v 0.000433 -0.004168 0.175879
+v 0.000585 -0.004145 0.184543
+v 0.000668 -0.004133 0.184675
+v 0.001944 -0.003724 0.175879
+v 0.001944 -0.003717 0.186070
+v 0.001690 -0.003838 0.186301
+v 0.002425 -0.003427 0.185378
+v 0.002281 -0.003523 0.185639
+v 0.002110 -0.003627 0.185881
+v 0.002609 -0.003291 0.184869
+v 0.002529 -0.003352 0.185131
+v 0.000341 -0.004170 0.184348
+v 0.000194 -0.004178 0.184297
+v 0.000038 -0.004186 0.175879
+v 0.000038 -0.004181 0.184279
+v -0.000118 -0.004178 0.184297
+v 0.000038 -0.000026 0.175876
+v 0.000341 0.003179 0.184344
+v 0.000038 0.003179 0.184274
+v -0.000266 0.003180 0.185605
+v 0.000038 0.003180 0.185674
+v 0.000038 0.003181 0.186874
+v 0.000585 0.003180 0.185411
+v 0.000720 0.003180 0.185130
+v 0.002688 0.003179 0.184224
+v 0.000720 0.003179 0.184819
+v 0.000585 0.003179 0.184538
+v -0.002612 0.003179 0.184224
+v -0.000266 0.003179 0.184344
+v 0.000627 0.003181 0.186808
+v 0.000341 0.003180 0.185605
+v 0.001187 0.003180 0.186612
+v -0.000510 0.003179 0.184538
+v -0.000645 0.003179 0.184819
+v -0.002546 0.003179 0.184814
+v -0.000645 0.003180 0.185130
+v -0.000510 0.003180 0.185411
+v -0.002034 0.003180 0.185877
+v -0.002350 0.003180 0.185374
+v -0.000552 0.003181 0.186808
+v -0.001112 0.003180 0.186612
+v -0.001615 0.003180 0.186296
+v 0.002621 0.003179 0.184814
+v 0.002425 0.003180 0.185374
+v 0.002110 0.003180 0.185877
+v 0.001690 0.003180 0.186296
+v 0.002688 -0.003221 0.184228
+v -0.002546 -0.003221 0.184818
+v -0.002350 -0.003220 0.185378
+v -0.002612 -0.003221 0.184228
+v -0.002034 -0.003220 0.185881
+v -0.001615 -0.003220 0.186300
+v -0.001112 -0.003220 0.186616
+v -0.000552 -0.003219 0.186812
+v 0.000038 -0.003219 0.186878
+v -0.000510 -0.003220 0.185415
+v -0.000266 -0.003220 0.185609
+v 0.000038 -0.003220 0.185678
+v 0.000341 -0.003220 0.185609
+v -0.000645 -0.003220 0.185134
+v -0.000645 -0.003221 0.184823
+v -0.000510 -0.003221 0.184542
+v -0.000266 -0.003221 0.184348
+v 0.000720 -0.003221 0.184823
+v 0.002621 -0.003221 0.184818
+v 0.000720 -0.003220 0.185134
+v 0.000038 -0.003221 0.184278
+v 0.000341 -0.003221 0.184348
+v 0.000585 -0.003221 0.184542
+v 0.000585 -0.003220 0.185415
+v 0.002110 -0.003220 0.185881
+v 0.002425 -0.003220 0.185378
+v 0.000627 -0.003219 0.186812
+v 0.001187 -0.003220 0.186616
+v 0.001690 -0.003220 0.186300
+v 0.004231 0.000023 -0.191223
+v 0.003604 -0.002121 0.175576
+v 0.003668 -0.002077 -0.191223
+v 0.002066 -0.003658 0.175576
+v 0.002131 -0.003614 -0.191224
+v -0.000034 -0.004221 0.175575
+v 0.000031 -0.004177 -0.191224
+v -0.002134 -0.003658 0.175575
+v -0.002069 -0.003614 -0.191225
+v -0.003671 -0.002121 0.175575
+v -0.003606 -0.002077 -0.191225
+v -0.004233 -0.000021 0.175575
+v -0.004169 0.000023 -0.191224
+v -0.003671 0.002079 0.175575
+v -0.003606 0.002123 -0.191224
+v -0.002133 0.003616 0.175576
+v -0.002069 0.003660 -0.191224
+v -0.000033 0.004179 0.175576
+v 0.000031 0.004223 -0.191223
+v 0.002067 0.003616 0.175576
+v 0.002131 0.003660 -0.191223
+v 0.003604 0.002079 0.175577
+v 0.003668 0.002123 -0.191223
+v 0.004167 -0.000021 0.175576
+v -0.000033 -0.000021 0.175576
+vn 0.6380 -0.7700 0.0005
+vn 0.6262 -0.7797 -0.0001
+vn 0.6352 -0.7723 0.0005
+vn 0.6288 -0.7776 0.0005
+vn 0.6997 -0.7144 -0.0016
+vn 0.6969 -0.7172 -0.0008
+vn 0.6926 -0.7213 0.0000
+vn 0.6212 -0.7837 -0.0008
+vn 0.6248 -0.7808 0.0001
+vn 0.6901 -0.7237 0.0005
+vn 0.8146 -0.5800 0.0004
+vn 0.8146 -0.5801 0.0004
+vn 0.8147 -0.5799 0.0004
+vn 0.9097 -0.4152 0.0003
+vn 0.9097 -0.4153 0.0003
+vn 0.9097 -0.4154 0.0003
+vn 0.9718 -0.2357 0.0002
+vn 0.9719 -0.2356 0.0002
+vn 0.9718 -0.2358 0.0002
+vn 0.9989 -0.0477 0.0000
+vn 0.9989 -0.0476 -0.0000
+vn 0.9898 0.1423 -0.0001
+vn 0.9898 0.1424 -0.0001
+vn 0.9451 0.3269 -0.0002
+vn 0.9450 0.3270 -0.0002
+vn 0.9450 0.3271 -0.0002
+vn 0.9452 0.3265 -0.0002
+vn 0.8660 0.5000 -0.0003
+vn 0.8661 0.4999 -0.0003
+vn 0.7558 0.6548 -0.0005
+vn 0.7558 0.6549 -0.0004
+vn 0.7557 0.6549 -0.0004
+vn 0.7559 0.6547 -0.0005
+vn 0.5865 0.8099 -0.0011
+vn 0.6229 0.7823 -0.0016
+vn 0.6379 0.7701 -0.0005
+vn 0.6650 0.7468 -0.0005
+vn 0.6183 0.7859 -0.0037
+vn 0.5928 0.8054 -0.0007
+vn 0.6130 0.7901 -0.0022
+vn 0.5991 0.8007 -0.0060
+vn 0.3615 0.9324 -0.0003
+vn 0.3616 0.9323 -0.0003
+vn 0.3617 0.9323 -0.0003
+vn 0.4236 0.9058 -0.0011
+vn 0.4723 0.8814 -0.0029
+vn 0.4585 0.8887 -0.0020
+vn 0.5195 0.8545 -0.0005
+vn 0.5574 0.8302 -0.0005
+vn 0.2816 0.9595 -0.0020
+vn 0.2998 0.9540 -0.0030
+vn 0.1585 0.9874 -0.0008
+vn 0.0906 0.9959 -0.0030
+vn 0.1193 0.9929 -0.0018
+vn 0.1424 0.9898 -0.0011
+vn 0.1671 0.9859 -0.0007
+vn 0.1712 0.9852 -0.0007
+vn 0.1709 0.9853 -0.0006
+vn 0.1788 0.9839 -0.0006
+vn 0.2330 0.9725 -0.0006
+vn 0.1700 0.9854 -0.0002
+vn 0.1618 0.9868 -0.0001
+vn 0.1632 0.9866 0.0002
+vn 0.1608 0.9870 0.0004
+vn 0.1458 0.9893 0.0021
+vn -0.1607 0.9870 0.0004
+vn -0.1458 0.9893 0.0021
+vn 0.1248 0.9922 0.0059
+vn 0.0979 0.9951 0.0137
+vn 0.1621 0.9867 -0.0138
+vn 0.0593 0.9982 0.0109
+vn 0.1016 0.9948 -0.0051
+vn 0.0202 0.9998 0.0017
+vn 0.0191 0.9998 0.0021
+vn 0.0219 0.9998 0.0012
+vn 0.0224 0.9997 0.0013
+vn -0.0191 0.9998 -0.0012
+vn -0.0448 0.9990 0.0005
+vn -0.1057 0.9944 -0.0067
+vn -0.0593 0.9982 0.0109
+vn -0.1621 0.9867 -0.0138
+vn -0.0978 0.9951 0.0137
+vn -0.1248 0.9922 0.0059
+vn -0.1671 0.9859 -0.0007
+vn -0.1621 0.9868 -0.0008
+vn -0.1656 0.9862 -0.0007
+vn -0.1584 0.9874 -0.0009
+vn -0.1424 0.9898 -0.0011
+vn -0.1193 0.9929 -0.0018
+vn -0.0905 0.9959 -0.0030
+vn -0.0568 0.9984 -0.0049
+vn -0.0951 0.9955 -0.0021
+vn -0.0192 0.9998 -0.0006
+vn 0.0952 0.9955 -0.0006
+vn 0.0194 0.9998 -0.0078
+vn 0.0566 0.9984 -0.0050
+vn -0.2817 0.9595 -0.0006
+vn -0.3457 0.9383 -0.0057
+vn -0.1701 0.9854 -0.0002
+vn -0.1729 0.9849 -0.0003
+vn -0.1725 0.9850 -0.0003
+vn -0.1788 0.9839 -0.0006
+vn -0.2330 0.9725 -0.0006
+vn -0.2997 0.9540 -0.0030
+vn -0.4582 0.8888 -0.0006
+vn -0.5143 0.8576 -0.0057
+vn -0.4724 0.8814 -0.0030
+vn -0.4115 0.9114 -0.0006
+vn -0.6381 0.7700 -0.0005
+vn -0.5927 0.8054 -0.0007
+vn -0.6649 0.7469 -0.0092
+vn -0.6229 0.7823 -0.0016
+vn -0.5990 0.8007 -0.0060
+vn -0.6131 0.7900 -0.0022
+vn -0.5865 0.8099 -0.0011
+vn -0.5574 0.8302 -0.0005
+vn -0.6180 0.7861 -0.0006
+vn -0.7558 0.6548 -0.0004
+vn -0.7557 0.6549 -0.0004
+vn -0.7556 0.6551 -0.0004
+vn -0.7556 0.6550 -0.0004
+vn -0.8660 0.5000 -0.0003
+vn -0.8660 0.5001 -0.0003
+vn -0.9449 0.3272 -0.0002
+vn -0.9450 0.3272 -0.0002
+vn -0.9450 0.3271 -0.0002
+vn -0.9898 0.1423 -0.0001
+vn -0.9898 0.1424 -0.0001
+vn -0.9898 0.1425 -0.0001
+vn -0.9989 -0.0477 0.0000
+vn -0.9989 -0.0476 -0.0000
+vn -0.9718 -0.2358 0.0002
+vn -0.9718 -0.2357 0.0002
+vn -0.9719 -0.2354 0.0002
+vn -0.9097 -0.4152 0.0004
+vn -0.9097 -0.4153 0.0003
+vn -0.9096 -0.4154 0.0003
+vn -0.8146 -0.5801 0.0004
+vn -0.8148 -0.5798 0.0003
+vn -0.8147 -0.5799 0.0003
+vn -0.8145 -0.5801 0.0004
+vn -0.6381 -0.7700 0.0005
+vn -0.6380 -0.7700 0.0005
+vn -0.6997 -0.7144 0.0005
+vn -0.6971 -0.7170 -0.0000
+vn -0.6926 -0.7213 -0.0008
+vn -0.6902 -0.7237 -0.0012
+vn -0.6301 -0.7766 0.0005
+vn -0.6296 -0.7769 0.0006
+vn -0.6287 -0.7776 0.0005
+vn -0.5179 -0.8554 -0.0003
+vn -0.5536 -0.8328 -0.0020
+vn -0.5796 -0.8149 -0.0039
+vn -0.5406 -0.8413 -0.0004
+vn -0.6101 -0.7923 0.0005
+vn -0.6263 -0.7796 0.0005
+vn -0.5976 -0.8018 -0.0052
+vn -0.6230 -0.7822 -0.0006
+vn -0.3118 -0.9501 0.0006
+vn -0.3694 -0.9293 -0.0009
+vn -0.3686 -0.9296 -0.0009
+vn -0.3704 -0.9289 -0.0010
+vn -0.3714 -0.9285 -0.0011
+vn -0.4279 -0.9038 0.0006
+vn -0.4783 -0.8782 0.0006
+vn -0.1193 -0.9928 -0.0059
+vn -0.1892 -0.9819 0.0006
+vn -0.0839 -0.9965 0.0006
+vn -0.2619 -0.9650 -0.0106
+vn -0.2229 -0.9748 0.0006
+vn -0.1669 -0.9860 -0.0026
+vn -0.1486 -0.9889 -0.0038
+vn -0.2092 -0.9779 0.0056
+vn -0.1900 -0.9817 0.0122
+vn -0.1717 -0.9849 0.0200
+vn -0.1184 -0.9930 0.0006
+vn -0.1740 -0.9847 -0.0081
+vn -0.1244 -0.9922 0.0127
+vn -0.2394 -0.9708 -0.0171
+vn -0.2390 -0.9709 -0.0172
+vn -0.0840 -0.9965 0.0006
+vn -0.0533 -0.9986 0.0034
+vn -0.0559 -0.9984 0.0027
+vn -0.0496 -0.9988 0.0051
+vn -0.0479 -0.9988 0.0044
+vn -0.0190 -0.9998 0.0007
+vn 0.0476 -0.9989 0.0006
+vn 0.0199 -0.9998 0.0099
+vn 0.0560 -0.9984 0.0027
+vn 0.0840 -0.9965 0.0006
+vn 0.1184 -0.9930 0.0006
+vn 0.1740 -0.9847 -0.0081
+vn 0.2101 -0.9777 0.0057
+vn 0.2308 -0.9725 -0.0323
+vn 0.1427 -0.9892 0.0327
+vn 0.2869 -0.9570 -0.0429
+vn 0.1722 -0.9849 0.0204
+vn 0.1907 -0.9816 0.0125
+vn 0.2642 -0.9644 -0.0108
+vn 0.2245 -0.9745 0.0007
+vn 0.3092 -0.9510 0.0007
+vn 0.1133 -0.9936 0.0006
+vn 0.1896 -0.9819 -0.0007
+vn 0.1484 -0.9889 -0.0038
+vn 0.1668 -0.9860 -0.0026
+vn 0.3718 -0.9283 0.0006
+vn 0.4246 -0.9054 -0.0039
+vn 0.3685 -0.9296 -0.0009
+vn 0.5535 -0.8329 -0.0020
+vn 0.5180 -0.8554 -0.0003
+vn 0.4783 -0.8782 0.0006
+vn 0.6256 -0.7802 0.0005
+vn 0.5406 -0.8413 0.0005
+vn 0.5962 -0.8029 -0.0054
+vn 0.5796 -0.8149 -0.0039
+vn 0.0527 -0.9986 0.0002
+vn 0.0554 -0.9985 0.0003
+vn 0.0494 -0.9988 0.0001
+vn 0.0476 -0.9989 0.0001
+vn 0.0192 -0.9998 0.0006
+vn -0.0476 -0.9989 0.0006
+vn -0.0193 -0.9998 -0.0006
+vn -0.0553 -0.9985 0.0003
+vn -0.0000 -0.0007 -1.0000
+vn -0.0001 -0.0007 -1.0000
+vn 0.0000 -0.0006 -1.0000
+vn 0.0002 -0.0007 -1.0000
+vn 0.0001 -0.0007 -1.0000
+vn 0.0001 -0.0008 -1.0000
+vn -0.0000 -0.0008 -1.0000
+vn -0.0000 -0.0010 -1.0000
+vn 0.0002 -0.0006 -1.0000
+vn -0.0002 -0.0004 -1.0000
+vn 0.0003 -0.0007 -1.0000
+vn 0.0003 -0.0006 -1.0000
+vn 0.0001 -0.0005 -1.0000
+vn 0.0000 -0.0005 -1.0000
+vn -0.0001 -0.0005 -1.0000
+vn -0.0003 -0.0006 -1.0000
+vn -0.0003 -0.0007 -1.0000
+vn 0.0002 -0.0004 -1.0000
+vn -0.0001 -0.0006 -1.0000
+vn 0.0001 -0.0010 -1.0000
+vn -0.0001 -0.0008 -1.0000
+vn -0.0002 -0.0007 -1.0000
+vn 0.0002 0.0007 1.0000
+vn -0.0000 0.0005 1.0000
+vn -0.0000 0.0009 1.0000
+vn -0.0000 0.0006 1.0000
+vn -0.0002 0.0002 1.0000
+vn 0.0000 0.0007 1.0000
+vn -0.0000 0.0008 1.0000
+vn 0.0002 0.0008 1.0000
+vn -0.0000 0.0004 1.0000
+vn 0.0001 0.0008 1.0000
+vn -0.0001 0.0005 1.0000
+vn 0.0001 0.0010 1.0000
+vn 0.0001 0.0007 1.0000
+vn -0.0002 -1.0000 0.0005
+vn 0.0001 -1.0000 0.0008
+vn 0.0000 -1.0000 0.0007
+vn 0.0001 -1.0000 0.0005
+vn -0.0000 -1.0000 0.0008
+vn -0.0000 -1.0000 0.0006
+vn -0.0001 -1.0000 0.0008
+vn -0.0001 -1.0000 0.0003
+vn -0.0000 -1.0000 0.0005
+vn -0.0001 -1.0000 0.0006
+vn 0.0001 -1.0000 0.0010
+vn 0.0001 -1.0000 0.0006
+vn 0.0002 -1.0000 0.0005
+vn 0.0000 1.0000 -0.0007
+vn -0.0000 1.0000 -0.0005
+vn -0.0000 1.0000 -0.0006
+vn -0.0001 1.0000 -0.0007
+vn 0.0002 1.0000 -0.0007
+vn -0.0003 1.0000 -0.0005
+vn -0.0000 1.0000 -0.0008
+vn 0.0001 1.0000 -0.0005
+vn -0.0001 1.0000 -0.0008
+vn -0.0001 1.0000 -0.0003
+vn -0.0002 1.0000 -0.0005
+vn 0.0001 1.0000 -0.0008
+vn 0.0001 1.0000 -0.0010
+vn 0.0001 1.0000 -0.0006
+vn 0.0002 1.0000 -0.0005
+vn 0.0000 0.0000 1.0000
+vn -0.9218 0.0003 0.3877
+vn 0.9984 -0.0000 0.0564
+vn 0.7729 0.6286 0.0867
+vn 0.9842 -0.0458 0.1709
+vn 0.9842 -0.0458 0.1710
+vn 0.9842 -0.0458 0.1711
+vn 0.9516 0.0546 0.3024
+vn 0.9365 0.1249 0.3276
+vn 0.9218 0.0003 0.3877
+vn 0.8752 0.0004 0.4838
+vn 0.8454 0.0553 0.5312
+vn 0.8154 0.0003 0.5789
+vn 0.7515 0.0004 0.6597
+vn 0.7067 0.0331 0.7067
+vn 0.6729 0.0004 0.7397
+vn 0.5807 0.0005 0.8141
+vn 0.5319 0.0241 0.8465
+vn 0.4856 0.0006 0.8742
+vn 0.4858 0.0006 0.8741
+vn 0.4853 0.0006 0.8744
+vn 0.3302 0.0199 0.9437
+vn 0.3831 0.0006 0.9237
+vn 0.4851 0.0006 0.8745
+vn 0.1118 0.0162 0.9936
+vn 0.1859 0.0006 0.9826
+vn 0.2775 0.0006 0.9607
+vn -0.1117 0.0163 0.9936
+vn -0.0747 0.0006 0.9972
+vn 0.0747 0.0006 0.9972
+vn -0.3302 0.0198 0.9437
+vn -0.2775 0.0006 0.9607
+vn -0.1859 0.0006 0.9826
+vn -0.4895 0.0023 0.8720
+vn -0.3878 -0.0011 0.9217
+vn -0.3880 -0.0011 0.9217
+vn -0.3877 -0.0011 0.9218
+vn -0.3876 -0.0011 0.9218
+vn -0.5689 0.0434 0.8212
+vn -0.5320 0.0005 0.8467
+vn -0.6728 0.0004 0.7398
+vn -0.7067 0.0330 0.7067
+vn -0.7515 0.0004 0.6597
+vn -0.8468 0.0000 0.5320
+vn -0.8589 0.0836 0.5053
+vn -0.8154 0.0002 0.5789
+vn -0.9374 0.1567 0.3111
+vn -0.9434 0.0315 0.3301
+vn -0.9593 0.0003 0.2822
+vn -0.9858 0.0002 0.1679
+vn -0.7730 0.6284 0.0867
+vn -0.9984 0.0000 0.0564
+vn 0.9236 0.0003 0.3833
+vn -0.9984 0.0000 0.0568
+vn -0.7729 -0.6285 0.0875
+vn -0.9608 0.0003 0.2773
+vn -0.9356 -0.1321 0.3275
+vn -0.9236 0.0002 0.3833
+vn -0.8762 0.0004 0.4820
+vn -0.8454 -0.0551 0.5313
+vn -0.8166 0.0005 0.5772
+vn -0.7458 0.0004 0.6661
+vn -0.7067 -0.0316 0.7068
+vn -0.6510 0.0127 0.7589
+vn -0.6506 0.0127 0.7593
+vn -0.6507 0.0127 0.7592
+vn -0.6508 0.0127 0.7592
+vn -0.5327 -0.0189 0.8461
+vn -0.5321 -0.0170 0.8465
+vn -0.5389 -0.0233 0.8420
+vn -0.5408 -0.0244 0.8408
+vn -0.3303 -0.0163 0.9437
+vn -0.3665 0.0006 0.9304
+vn -0.4728 0.0006 0.8812
+vn 0.0358 0.0045 0.9994
+vn 0.0363 0.0045 0.9993
+vn 0.0356 0.0044 0.9994
+vn -0.0708 -0.0038 0.9975
+vn -0.1117 -0.0169 0.9936
+vn -0.1680 0.0006 0.9858
+vn -0.2601 0.0006 0.9656
+vn 0.1119 -0.0166 0.9936
+vn 0.0351 0.0044 0.9994
+vn 0.3303 -0.0163 0.9437
+vn 0.2601 0.0006 0.9656
+vn 0.1608 0.0006 0.9870
+vn 0.5595 -0.0315 0.8282
+vn 0.5597 -0.0315 0.8281
+vn 0.5596 -0.0315 0.8281
+vn 0.4726 0.0006 0.8813
+vn 0.3665 0.0006 0.9304
+vn 0.5595 -0.0314 0.8282
+vn 0.5320 0.0005 0.8467
+vn 0.6663 0.0005 0.7457
+vn 0.7068 -0.0319 0.7067
+vn 0.7456 0.0005 0.6664
+vn 0.8468 0.0005 0.5320
+vn 0.8591 -0.0857 0.5045
+vn 0.8166 0.0005 0.5772
+vn 0.9353 -0.1727 0.3087
+vn 0.9439 0.0003 0.3303
+vn 0.9858 0.0002 0.1679
+vn 0.7731 -0.6282 0.0875
+vn 0.9984 0.0000 0.0568
+vn 0.9937 0.0001 0.1121
+vn 0.3304 0.0006 0.9438
+vn 0.2223 -0.0177 0.9748
+vn 0.5005 0.0005 0.8657
+vn 0.6234 -0.0162 0.7817
+vn 0.6809 0.0005 0.7324
+vn 0.9009 0.0003 0.4339
+vn 0.9425 -0.0377 0.3319
+vn 0.8466 0.0006 0.5322
+vn 0.9929 -0.0388 -0.1124
+vn 1.0000 0.0000 0.0000
+vn 0.9438 -0.0002 -0.3304
+vn 0.9008 -0.0195 -0.4337
+vn 0.8466 0.0000 -0.5323
+vn 0.6809 -0.0005 -0.7323
+vn 0.6234 -0.0172 -0.7817
+vn 0.5009 -0.0005 -0.8655
+vn 0.3303 -0.0006 -0.9439
+vn 0.2224 -0.0189 -0.9748
+vn 0.1120 -0.0006 -0.9937
+vn -0.1120 -0.0006 -0.9937
+vn -0.2225 -0.0189 -0.9748
+vn -0.3300 -0.0006 -0.9440
+vn -0.5009 -0.0005 -0.8655
+vn -0.6234 -0.0172 -0.7817
+vn -0.6809 -0.0005 -0.7323
+vn -0.9998 -0.0200 0.0001
+vn -0.9937 -0.0001 -0.1119
+vn -0.9009 -0.0003 -0.4339
+vn -0.9425 -0.0380 -0.3322
+vn -0.8466 0.0000 -0.5323
+vn -0.9008 -0.0190 0.4338
+vn -0.9438 0.0002 0.3305
+vn -0.9937 0.0001 0.1120
+vn -0.6234 -0.0162 0.7817
+vn -0.6809 0.0005 0.7324
+vn -0.8466 0.0006 0.5322
+vn 0.1119 0.0006 0.9937
+vn -0.1123 0.0006 0.9937
+vn -0.2223 -0.0177 0.9748
+vn -0.3309 0.0006 0.9437
+vn -0.5005 0.0005 0.8658
+vn -0.9937 0.0001 0.1121
+vn -0.3304 0.0006 0.9438
+vn -0.2225 0.0190 0.9747
+vn -0.5322 0.0006 0.8466
+vn -0.6233 0.0192 0.7817
+vn -0.7071 0.0005 0.7071
+vn -0.9009 0.0003 0.4339
+vn -0.9426 0.0381 0.3319
+vn -0.8468 0.0003 0.5319
+vn -0.9929 0.0387 -0.1124
+vn -1.0000 0.0000 0.0000
+vn -0.9438 -0.0002 -0.3305
+vn -0.9008 0.0190 -0.4338
+vn -0.8466 -0.0006 -0.5323
+vn -0.7073 -0.0008 -0.7069
+vn -0.6235 0.0182 -0.7817
+vn -0.5315 -0.0006 -0.8471
+vn -0.3309 -0.0006 -0.9437
+vn -0.2225 0.0177 -0.9748
+vn -0.1123 -0.0006 -0.9937
+vn 0.1121 -0.0006 -0.9937
+vn 0.2225 0.0177 -0.9748
+vn 0.3307 -0.0007 -0.9437
+vn 0.5316 -0.0006 -0.8470
+vn 0.6235 0.0182 -0.7817
+vn 0.7073 -0.0008 -0.7069
+vn 0.9998 0.0194 -0.0000
+vn 0.9937 -0.0001 -0.1119
+vn 0.9010 -0.0003 -0.4338
+vn 0.9424 0.0376 -0.3323
+vn 0.8466 -0.0006 -0.5323
+vn 0.9008 0.0195 0.4338
+vn 0.9438 0.0002 0.3306
+vn 0.9937 0.0001 0.1119
+vn 0.9937 0.0000 0.1119
+vn 0.6234 0.0192 0.7817
+vn 0.7073 0.0005 0.7069
+vn 0.8466 0.0003 0.5323
+vn -0.1117 0.0007 0.9937
+vn 0.1120 0.0007 0.9937
+vn 0.2225 0.0190 0.9747
+vn 0.3308 0.0006 0.9437
+vn 0.5321 0.0006 0.8467
+vn 0.9659 -0.2590 0.0001
+vn 0.7069 -0.7073 0.0000
+vn 0.7071 -0.7071 0.0000
+vn 0.2590 -0.9659 -0.0001
+vn -0.2590 -0.9659 -0.0002
+vn -0.7071 -0.7071 -0.0002
+vn -0.9660 -0.2585 -0.0002
+vn -0.9659 -0.2590 -0.0002
+vn -0.9660 0.2585 -0.0001
+vn -0.9659 0.2590 -0.0001
+vn -0.7069 0.7073 -0.0000
+vn -0.7071 0.7071 -0.0000
+vn -0.2590 0.9659 0.0001
+vn 0.2590 0.9659 0.0002
+vn 0.7071 0.7071 0.0002
+vn 0.9659 0.2590 0.0002
+vn -0.0002 -0.0001 1.0000
+vn 0.0000 -0.0001 1.0000
+vn -0.0002 -0.0000 1.0000
+vn -0.0002 0.0001 1.0000
+vn 0.0000 -0.0002 1.0000
+vn -0.0001 -0.0002 1.0000
+vn -0.0001 0.0001 1.0000
+usemtl tool_roll_linkmat
+s 1
+f 1//1 2//2 3//3
+f 3//3 2//2 4//4
+f 3//5 4//6 5//7
+f 2//2 6//8 7//9
+f 4//6 8//10 5//7
+f 5//11 8//12 9//11
+f 5//11 9//11 10//13
+f 10//14 9//15 11//16
+f 10//14 11//16 12//15
+f 12//17 11//18 13//19
+f 12//17 13//19 14//19
+f 14//20 13//21 15//21
+f 14//20 15//21 16//20
+f 16//22 15//23 17//22
+f 16//22 17//22 18//23
+f 18//24 17//25 19//26
+f 18//24 19//26 20//27
+f 20//28 19//28 21//29
+f 20//28 21//29 22//28
+f 22//30 21//31 23//32
+f 22//30 23//32 24//33
+f 25//34 26//34 27//34
+f 28//35 29//35 30//35
+f 30//36 31//36 32//36
+f 24//37 23//37 32//37
+f 32//38 23//38 25//38
+f 32//39 25//39 30//39
+f 30//40 25//40 27//40
+f 30//41 27//41 28//41
+f 33//42 34//43 35//44
+f 35//45 36//45 33//45
+f 33//46 36//46 37//46
+f 33//47 37//47 25//47
+f 25//48 37//48 38//48
+f 25//49 38//49 26//49
+f 34//43 33//42 39//44
+f 39//50 33//50 40//50
+f 39//51 40//51 41//51
+f 42//52 43//52 40//52
+f 44//53 45//53 40//53
+f 40//54 45//54 46//54
+f 40//55 46//55 42//55
+f 43//56 47//57 40//58
+f 40//58 47//57 48//59
+f 40//60 48//60 41//60
+f 47//61 49//62 48//63
+f 48//63 49//62 50//64
+f 48//65 50//65 51//65
+f 52//66 53//66 54//66
+f 52//67 54//67 55//67
+f 51//68 56//68 48//68
+f 48//69 56//69 57//69
+f 48//70 57//70 58//70
+f 58//71 57//71 59//71
+f 58//72 59//72 60//72
+f 60//73 59//74 61//75
+f 60//73 61//75 62//76
+f 62//76 61//75 63//76
+f 63//77 61//77 64//77
+f 63//78 64//78 65//78
+f 65//79 64//79 66//79
+f 66//80 64//80 67//80
+f 66//81 67//81 54//81
+f 54//82 67//82 68//82
+f 54//83 68//83 55//83
+f 69//84 70//85 71//86
+f 70//85 72//87 71//86
+f 71//88 72//88 73//88
+f 71//89 73//89 74//89
+f 74//90 75//90 71//90
+f 71//91 75//91 76//91
+f 71//92 76//92 77//92
+f 77//93 76//93 78//93
+f 77//94 78//94 40//94
+f 40//95 78//95 79//95
+f 40//96 79//96 44//96
+f 80//97 81//97 71//97
+f 71//98 81//98 82//98
+f 53//99 69//100 54//101
+f 54//101 69//100 71//102
+f 54//103 71//103 83//103
+f 83//104 71//104 82//104
+f 84//105 85//105 80//105
+f 80//106 85//106 86//106
+f 86//107 87//107 80//107
+f 80//108 87//108 88//108
+f 80//108 88//108 81//108
+f 89//109 90//109 91//109
+f 91//110 90//110 84//110
+f 91//111 84//111 92//111
+f 93//112 94//112 90//112
+f 90//113 94//113 95//113
+f 90//114 95//114 84//114
+f 84//115 95//115 96//115
+f 84//116 96//116 85//116
+f 84//117 97//117 92//117
+f 92//118 97//119 98//120
+f 92//118 98//120 99//121
+f 99//122 98//123 100//122
+f 99//122 100//122 101//122
+f 101//124 100//125 102//124
+f 101//124 102//124 103//126
+f 103//127 102//127 104//128
+f 103//127 104//128 105//129
+f 105//130 104//131 106//130
+f 105//130 106//130 107//131
+f 107//132 106//133 108//133
+f 107//132 108//133 109//134
+f 109//135 108//136 110//137
+f 109//135 110//137 111//136
+f 111//138 110//139 112//140
+f 111//138 112//140 113//141
+f 114//142 115//143 116//142
+f 113//144 112//145 116//146
+f 116//146 112//145 117//147
+f 116//148 117//149 114//150
+f 118//151 119//151 120//151
+f 120//152 121//152 118//152
+f 118//153 121//153 122//153
+f 118//154 122//154 117//154
+f 117//155 122//155 123//155
+f 117//149 123//156 114//150
+f 114//157 123//157 124//157
+f 114//158 124//158 125//158
+f 126//159 127//159 128//159
+f 128//160 127//161 129//162
+f 128//160 129//162 118//163
+f 118//164 129//164 130//164
+f 118//165 130//165 119//165
+f 131//166 128//166 132//166
+f 132//167 128//167 133//167
+f 132//168 133//168 134//168
+f 135//169 126//169 136//169
+f 136//170 126//170 128//170
+f 136//171 128//171 137//171
+f 137//172 128//172 131//172
+f 135//173 138//173 126//173
+f 126//174 138//174 139//174
+f 126//175 139//175 140//175
+f 141//176 142//176 143//176
+f 143//177 142//177 144//177
+f 143//178 144//178 140//178
+f 140//179 144//180 145//179
+f 140//179 145//179 126//179
+f 143//181 146//181 141//181
+f 141//182 146//183 147//184
+f 141//182 147//184 148//185
+f 148//186 147//186 149//186
+f 148//187 149//187 150//187
+f 150//188 149//188 151//188
+f 151//189 152//189 150//189
+f 150//190 152//190 153//190
+f 150//191 153//191 154//191
+f 154//192 153//192 155//192
+f 156//193 157//193 158//193
+f 155//194 153//194 159//194
+f 159//195 153//195 160//195
+f 159//196 160//196 158//196
+f 158//197 160//197 161//197
+f 158//198 161//198 156//198
+f 157//199 162//199 158//199
+f 158//200 162//200 163//200
+f 158//201 163//201 164//201
+f 165//202 166//202 167//202
+f 167//203 166//203 163//203
+f 167//204 163//204 168//204
+f 168//205 163//205 162//205
+f 169//206 170//206 163//206
+f 163//207 170//207 171//207
+f 163//208 171//208 164//208
+f 172//209 173//209 169//209
+f 169//210 173//210 174//210
+f 169//211 174//211 170//211
+f 2//2 7//9 4//4
+f 4//4 7//9 175//212
+f 4//213 175//213 169//213
+f 169//214 175//214 176//214
+f 169//215 176//215 172//215
+f 165//190 177//190 166//190
+f 166//216 177//217 178//218
+f 166//216 178//218 179//219
+f 179//220 178//220 180//220
+f 179//221 180//221 133//221
+f 133//222 180//222 181//222
+f 133//223 181//223 134//223
+f 179//224 133//225 182//226
+f 169//226 163//227 182//226
+f 182//226 163//227 166//228
+f 182//226 166//228 179//224
+f 9//229 8//230 182//226
+f 182//226 8//230 4//231
+f 182//226 4//231 169//226
+f 15//226 13//228 182//226
+f 182//226 13//228 11//224
+f 182//226 11//224 9//229
+f 21//226 19//224 182//226
+f 182//226 19//224 17//232
+f 182//226 17//232 15//226
+f 33//233 25//234 182//226
+f 182//226 25//234 23//235
+f 182//226 23//235 21//226
+f 71//236 77//237 182//226
+f 182//226 77//237 40//238
+f 182//226 40//238 33//233
+f 97//239 84//240 182//226
+f 182//226 84//240 80//241
+f 182//226 80//241 71//236
+f 102//242 100//224 182//226
+f 182//226 100//224 98//226
+f 182//226 98//226 97//239
+f 108//224 106//225 182//226
+f 182//226 106//225 104//226
+f 182//226 104//226 102//242
+f 117//243 112//230 182//226
+f 182//226 112//230 110//244
+f 182//226 110//244 108//224
+f 133//225 128//245 182//226
+f 182//226 128//245 118//239
+f 182//226 118//239 117//243
+f 12//246 14//247 92//248
+f 99//249 101//249 5//250
+f 116//247 3//247 113//247
+f 113//247 3//247 5//250
+f 99//249 5//250 92//248
+f 92//248 5//250 10//251
+f 92//248 10//251 12//246
+f 32//249 91//249 24//252
+f 24//252 91//249 92//248
+f 24//252 92//248 22//249
+f 22//249 92//248 20//251
+f 14//247 16//253 92//248
+f 92//248 16//253 18//254
+f 92//248 18//254 20//251
+f 107//255 109//256 5//250
+f 5//250 109//256 111//257
+f 5//250 111//257 113//247
+f 101//249 103//258 5//250
+f 5//250 103//258 105//256
+f 5//250 105//256 107//255
+f 183//259 184//260 32//261
+f 185//262 186//263 187//263
+f 188//264 189//265 190//264
+f 190//264 189//265 191//264
+f 190//264 191//264 192//266
+f 89//261 91//261 193//267
+f 193//267 91//261 32//261
+f 193//267 32//261 194//267
+f 194//267 32//261 184//260
+f 187//263 186//263 195//268
+f 195//268 186//263 196//259
+f 195//268 196//259 197//259
+f 31//261 190//264 32//261
+f 32//261 190//264 192//266
+f 32//261 192//266 183//259
+f 194//267 198//267 193//267
+f 193//267 198//267 199//264
+f 193//267 199//264 200//260
+f 200//260 199//264 201//264
+f 202//267 203//267 201//264
+f 201//264 203//267 204//269
+f 201//264 204//269 200//260
+f 187//263 205//270 185//262
+f 185//262 205//270 206//271
+f 185//262 206//271 202//267
+f 202//267 206//271 207//267
+f 202//267 207//267 203//267
+f 188//264 190//264 196//259
+f 196//259 190//264 208//270
+f 196//259 208//270 209//261
+f 209//261 210//267 196//259
+f 196//259 210//267 211//267
+f 196//259 211//267 197//259
+f 1//272 3//272 212//273
+f 212//273 3//272 116//272
+f 213//274 214//274 215//275
+f 215//275 214//274 216//276
+f 215//275 216//276 217//274
+f 217//274 218//274 215//275
+f 215//275 218//274 219//277
+f 215//275 219//277 220//278
+f 221//274 215//275 222//272
+f 222//272 215//275 220//278
+f 222//272 220//278 223//278
+f 223//278 220//278 224//279
+f 221//274 225//280 215//275
+f 215//275 225//280 226//274
+f 215//275 226//274 227//281
+f 115//272 215//275 116//272
+f 116//272 215//275 227//281
+f 116//272 227//281 228//282
+f 212//273 229//274 230//283
+f 230//283 229//274 231//274
+f 228//282 232//283 116//272
+f 116//272 232//283 233//273
+f 116//272 233//273 212//273
+f 212//273 233//273 234//273
+f 212//273 234//273 229//274
+f 235//273 236//273 231//274
+f 231//274 236//273 237//284
+f 231//274 237//284 230//283
+f 220//278 238//285 224//279
+f 224//279 238//285 239//286
+f 224//279 239//286 235//273
+f 235//273 239//286 240//273
+f 235//273 240//273 236//273
+f 215//287 115//287 114//287
+f 122//288 121//288 214//288
+f 2//289 212//289 6//289
+f 6//290 212//290 230//290
+f 6//291 230//292 7//292
+f 7//292 230//292 175//293
+f 175//294 230//294 176//294
+f 176//295 230//295 237//295
+f 176//296 237//296 172//296
+f 172//297 237//297 173//297
+f 173//298 237//298 236//298
+f 173//299 236//299 174//299
+f 174//300 236//300 170//300
+f 170//301 236//301 240//301
+f 170//302 240//302 171//302
+f 171//303 240//303 164//303
+f 164//304 240//304 239//304
+f 164//305 239//306 158//307
+f 238//308 155//308 239//308
+f 239//309 155//309 159//309
+f 239//306 159//310 158//307
+f 220//311 150//311 238//311
+f 238//312 150//312 154//312
+f 238//313 154//313 155//313
+f 219//314 141//314 220//314
+f 220//315 141//315 148//315
+f 220//316 148//316 150//316
+f 218//317 144//317 219//317
+f 219//318 144//318 142//318
+f 219//319 142//319 141//319
+f 127//320 126//320 218//320
+f 218//321 126//322 145//323
+f 218//321 145//323 144//324
+f 127//325 218//325 129//325
+f 129//326 218//326 217//326
+f 129//327 217//327 130//327
+f 130//328 217//328 216//328
+f 130//329 216//329 119//329
+f 214//330 121//330 216//330
+f 216//331 121//331 120//331
+f 216//332 120//332 119//332
+f 122//333 214//333 123//333
+f 123//334 214//334 213//334
+f 123//335 213//335 124//335
+f 124//336 213//336 125//336
+f 125//337 213//337 215//337
+f 125//338 215//338 114//338
+f 212//287 2//287 1//287
+f 190//287 31//287 30//287
+f 27//339 26//339 209//339
+f 90//340 193//340 93//340
+f 93//341 193//341 200//341
+f 93//336 200//336 94//336
+f 94//342 200//342 95//342
+f 95//343 200//343 204//343
+f 95//344 204//344 96//344
+f 96//345 204//345 85//345
+f 85//346 204//346 203//346
+f 85//347 203//347 86//347
+f 86//348 203//348 87//348
+f 87//349 203//349 207//349
+f 87//350 207//351 88//352
+f 88//352 207//351 81//353
+f 81//354 207//355 206//356
+f 81//354 206//356 82//357
+f 205//358 54//358 206//358
+f 206//359 54//359 83//359
+f 206//360 83//360 82//360
+f 62//361 63//362 187//363
+f 187//364 63//364 65//364
+f 187//365 65//365 205//365
+f 205//366 65//366 66//366
+f 205//367 66//367 54//367
+f 195//368 60//368 187//368
+f 187//363 60//369 62//361
+f 197//370 48//370 195//370
+f 195//371 48//371 58//371
+f 195//372 58//372 60//372
+f 34//373 39//374 197//375
+f 197//376 39//376 41//376
+f 197//377 41//377 48//377
+f 34//373 197//375 35//378
+f 35//379 197//379 211//379
+f 35//380 211//380 36//380
+f 36//381 211//381 210//381
+f 36//382 210//382 37//382
+f 209//383 26//383 210//383
+f 210//384 26//384 38//384
+f 210//385 38//385 37//385
+f 27//386 209//386 28//386
+f 28//387 209//387 208//387
+f 28//388 208//388 29//388
+f 29//389 208//389 190//389
+f 29//390 190//390 30//390
+f 193//287 90//287 89//287
+f 135//391 136//391 226//391
+f 134//392 181//392 228//392
+f 228//393 181//393 232//393
+f 134//394 228//394 132//394
+f 132//395 228//395 227//395
+f 132//396 227//396 131//396
+f 226//397 136//397 227//397
+f 227//398 136//398 137//398
+f 227//399 137//399 131//399
+f 135//400 226//400 138//400
+f 138//401 226//401 225//401
+f 138//402 225//402 139//402
+f 139//403 225//403 221//403
+f 139//404 221//404 140//404
+f 140//405 221//405 143//405
+f 143//406 221//406 222//406
+f 143//407 222//407 146//407
+f 146//408 222//408 147//408
+f 147//409 222//409 223//409
+f 147//410 223//410 149//410
+f 149//411 223//411 151//411
+f 151//412 223//412 224//412
+f 151//413 224//413 152//413
+f 152//414 224//414 153//414
+f 153//415 224//415 235//415
+f 153//416 235//416 160//416
+f 229//417 157//417 231//417
+f 231//418 157//418 156//418
+f 231//419 156//419 235//419
+f 235//420 156//420 161//420
+f 235//421 161//421 160//421
+f 234//422 168//422 229//422
+f 229//423 168//423 162//423
+f 229//424 162//424 157//424
+f 233//425 165//425 234//425
+f 234//426 165//426 167//426
+f 234//427 167//427 168//427
+f 181//428 180//428 232//428
+f 232//429 180//429 178//429
+f 232//430 178//430 233//430
+f 233//431 178//431 177//431
+f 233//432 177//432 165//432
+f 47//433 43//433 191//433
+f 44//434 79//434 183//434
+f 183//435 79//435 184//435
+f 44//436 183//436 45//436
+f 45//437 183//437 192//437
+f 45//438 192//438 46//438
+f 191//439 43//439 192//439
+f 192//440 43//440 42//440
+f 192//441 42//441 46//441
+f 47//442 191//442 49//442
+f 49//443 191//443 189//443
+f 49//444 189//444 50//444
+f 50//445 189//445 188//445
+f 50//446 188//446 51//446
+f 51//447 188//447 56//447
+f 56//448 188//448 196//448
+f 56//449 196//449 57//449
+f 57//450 196//450 59//450
+f 59//451 196//451 186//451
+f 59//452 186//452 61//452
+f 61//453 186//453 64//453
+f 64//454 186//454 185//454
+f 64//455 185//455 67//455
+f 67//456 185//456 68//456
+f 68//457 185//457 202//457
+f 68//458 202//458 55//458
+f 199//459 69//459 201//459
+f 201//460 69//460 53//460
+f 201//461 53//461 202//461
+f 202//462 53//462 52//462
+f 202//463 52//463 55//463
+f 198//464 72//464 199//464
+f 199//465 72//465 70//465
+f 199//466 70//467 69//466
+f 194//468 74//468 198//468
+f 198//469 74//469 73//469
+f 198//470 73//470 72//470
+f 79//471 78//471 184//471
+f 184//472 78//472 76//472
+f 184//473 76//473 194//473
+f 194//474 76//474 75//474
+f 194//475 75//475 74//475
+f 241//476 242//476 243//476
+f 243//477 242//477 244//477
+f 243//478 244//478 245//478
+f 245//479 244//479 246//479
+f 245//479 246//479 247//479
+f 247//480 246//480 248//480
+f 247//480 248//480 249//480
+f 249//481 248//481 250//481
+f 249//481 250//481 251//481
+f 251//482 250//482 252//482
+f 251//483 252//483 253//483
+f 253//484 252//484 254//484
+f 253//485 254//485 255//485
+f 255//486 254//486 256//486
+f 255//487 256//487 257//487
+f 257//488 256//488 258//488
+f 257//488 258//488 259//488
+f 259//489 258//489 260//489
+f 259//489 260//489 261//489
+f 261//490 260//490 262//490
+f 261//490 262//490 263//490
+f 263//491 262//491 264//491
+f 263//491 264//491 241//491
+f 241//476 264//476 242//476
+f 256//492 254//493 265//492
+f 265//492 254//493 252//494
+f 265//492 252//494 250//492
+f 262//492 260//495 265//492
+f 265//492 260//495 258//287
+f 265//492 258//287 256//492
+f 244//492 242//287 265//492
+f 265//492 242//287 264//496
+f 265//492 264//496 262//492
+f 250//492 248//497 265//492
+f 265//492 248//497 246//498
+f 265//492 246//498 244//492

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool roll link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl tool_roll_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.300000 0.300000 0.300000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool yaw link simple.OBJ

@@ -0,0 +1,273 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib tool yaw link simple.mtl
+o /ambf/env/psm1/tool_yaw_link_simple_tool_yaw_link
+v 0.000000 0.001906 -0.001906
+v 0.000000 0.001906 0.001906
+v 0.000372 0.001869 0.001906
+v 0.000372 0.001870 -0.001906
+v 0.000729 0.001761 0.001906
+v 0.000729 0.001761 -0.001906
+v 0.001059 0.001585 0.001906
+v 0.001059 0.001585 -0.001906
+v 0.001348 0.001347 0.001906
+v 0.001348 0.001348 -0.001906
+v 0.001585 0.001059 0.001906
+v 0.001585 0.001059 -0.001906
+v 0.001761 0.000729 0.001906
+v 0.001761 0.000730 -0.001906
+v 0.001869 0.000372 0.001906
+v 0.001869 0.000372 -0.001906
+v 0.001906 0.000000 0.001906
+v 0.001906 0.000000 -0.001906
+v 0.001869 -0.000372 0.001906
+v 0.001869 -0.000372 -0.001906
+v 0.001761 -0.000730 0.001906
+v 0.001761 -0.000729 -0.001906
+v 0.001585 -0.001059 0.001906
+v 0.001585 -0.001059 -0.001906
+v 0.001348 -0.001348 0.001906
+v 0.001348 -0.001348 -0.001906
+v 0.001059 -0.001585 0.001906
+v 0.001059 -0.001585 -0.001906
+v 0.000729 -0.001761 0.001906
+v 0.000729 -0.001761 -0.001906
+v 0.000372 -0.001870 0.001906
+v 0.000372 -0.001869 -0.001906
+v 0.000000 -0.001906 0.001906
+v 0.000000 -0.001906 -0.001906
+v -0.000372 -0.001870 0.001906
+v -0.000372 -0.001869 -0.001906
+v -0.000729 -0.001761 0.001906
+v -0.000729 -0.001761 -0.001906
+v -0.001059 -0.001585 0.001906
+v -0.001059 -0.001585 -0.001906
+v -0.001348 -0.001348 0.001906
+v -0.001348 -0.001348 -0.001906
+v -0.001585 -0.001059 0.001906
+v -0.001585 -0.001059 -0.001906
+v -0.001761 -0.000730 0.001906
+v -0.001761 -0.000729 -0.001906
+v -0.001869 -0.000372 0.001906
+v -0.001869 -0.000372 -0.001906
+v -0.001906 0.000000 0.001906
+v -0.001906 0.000000 -0.001906
+v -0.001869 0.000372 0.001906
+v -0.001869 0.000372 -0.001906
+v -0.001761 0.000729 0.001906
+v -0.001761 0.000730 -0.001906
+v -0.001585 0.001059 0.001906
+v -0.001585 0.001059 -0.001906
+v -0.001348 0.001347 0.001906
+v -0.001348 0.001348 -0.001906
+v -0.001059 0.001585 0.001906
+v -0.001059 0.001585 -0.001906
+v -0.000729 0.001761 0.001906
+v -0.000729 0.001761 -0.001906
+v -0.000372 0.001869 0.001906
+v -0.000372 0.001870 -0.001906
+vn 0.0980 0.9952 0.0001
+vn 0.0981 0.9952 0.0001
+vn 0.2903 0.9569 0.0001
+vn 0.2902 0.9570 0.0001
+vn 0.2903 0.9570 0.0001
+vn 0.2904 0.9569 0.0001
+vn 0.4713 0.8819 0.0001
+vn 0.4713 0.8820 0.0001
+vn 0.6342 0.7732 0.0002
+vn 0.6344 0.7730 0.0001
+vn 0.7732 0.6342 0.0000
+vn 0.7730 0.6344 0.0001
+vn 0.7732 0.6341 0.0000
+vn 0.8818 0.4716 0.0001
+vn 0.8820 0.4713 0.0001
+vn 0.8819 0.4714 0.0001
+vn 0.8818 0.4717 0.0001
+vn 0.9569 0.2903 0.0000
+vn 0.9952 0.0980 -0.0000
+vn 0.9952 0.0981 0.0000
+vn 0.9952 -0.0980 0.0000
+vn 0.9952 -0.0981 -0.0000
+vn 0.9569 -0.2903 0.0000
+vn 0.8819 -0.4714 -0.0001
+vn 0.8818 -0.4717 -0.0001
+vn 0.8818 -0.4716 -0.0001
+vn 0.8820 -0.4713 -0.0001
+vn 0.7729 -0.6345 -0.0001
+vn 0.7732 -0.6341 0.0000
+vn 0.6345 -0.7729 -0.0001
+vn 0.6344 -0.7730 -0.0001
+vn 0.4713 -0.8819 -0.0001
+vn 0.4713 -0.8820 -0.0001
+vn 0.2903 -0.9570 -0.0001
+vn 0.2904 -0.9569 -0.0001
+vn 0.2903 -0.9569 -0.0001
+vn 0.2902 -0.9570 -0.0001
+vn 0.0980 -0.9952 -0.0001
+vn 0.0981 -0.9952 -0.0001
+vn -0.0979 -0.9952 -0.0001
+vn -0.0980 -0.9952 -0.0001
+vn -0.2902 -0.9570 -0.0001
+vn -0.2903 -0.9569 -0.0001
+vn -0.4713 -0.8819 -0.0001
+vn -0.4713 -0.8820 -0.0001
+vn -0.6344 -0.7730 -0.0001
+vn -0.6345 -0.7729 -0.0001
+vn -0.7729 -0.6345 -0.0001
+vn -0.7732 -0.6341 0.0000
+vn -0.8820 -0.4712 -0.0001
+vn -0.8818 -0.4717 0.0000
+vn -0.8818 -0.4716 -0.0000
+vn -0.8819 -0.4713 -0.0001
+vn -0.9570 -0.2902 -0.0000
+vn -0.9570 -0.2900 0.0000
+vn -0.9952 -0.0980 -0.0000
+vn -0.9952 -0.0981 0.0000
+vn -0.9952 0.0980 0.0000
+vn -0.9952 0.0981 -0.0000
+vn -0.9570 0.2902 0.0000
+vn -0.9570 0.2900 0.0000
+vn -0.8818 0.4716 0.0000
+vn -0.8819 0.4713 0.0001
+vn -0.8820 0.4712 0.0001
+vn -0.8818 0.4717 0.0000
+vn -0.7732 0.6342 0.0002
+vn -0.7730 0.6344 0.0001
+vn -0.7732 0.6341 0.0002
+vn -0.6345 0.7730 0.0001
+vn -0.6344 0.7730 0.0001
+vn -0.6345 0.7729 0.0001
+vn -0.4713 0.8819 0.0001
+vn -0.4713 0.8820 0.0001
+vn 0.0000 0.0000 1.0000
+vn -0.2903 0.9569 0.0001
+vn -0.2902 0.9570 0.0001
+vn -0.0980 0.9952 0.0001
+vn -0.0979 0.9952 0.0001
+vn 0.0000 0.0000 -1.0000
+usemtl None
+s 1
+f 1//1 2//2 3//1
+f 1//1 3//1 4//1
+f 4//3 3//4 5//5
+f 4//3 5//5 6//6
+f 6//7 5//8 7//7
+f 6//7 7//7 8//7
+f 8//9 7//10 9//10
+f 8//9 9//10 10//10
+f 10//11 9//12 11//12
+f 10//11 11//12 12//13
+f 12//14 11//15 13//16
+f 12//14 13//16 14//17
+f 14//18 13//18 15//18
+f 14//18 15//18 16//18
+f 16//19 15//20 17//19
+f 16//19 17//19 18//20
+f 18//21 17//22 19//21
+f 18//21 19//21 20//22
+f 20//23 19//23 21//23
+f 20//23 21//23 22//23
+f 22//24 21//25 23//26
+f 22//24 23//26 24//27
+f 24//28 23//29 25//28
+f 24//28 25//28 26//29
+f 26//30 25//31 27//31
+f 26//30 27//31 28//30
+f 28//32 27//32 29//32
+f 28//32 29//32 30//33
+f 30//34 29//35 31//36
+f 30//34 31//36 32//37
+f 32//38 31//38 33//38
+f 32//38 33//38 34//39
+f 34//40 33//40 35//41
+f 34//40 35//41 36//41
+f 36//42 35//43 37//43
+f 36//42 37//43 38//42
+f 38//44 37//45 39//44
+f 38//44 39//44 40//44
+f 40//46 39//47 41//47
+f 40//46 41//47 42//46
+f 42//48 41//49 43//48
+f 42//48 43//48 44//49
+f 44//50 43//51 45//52
+f 44//50 45//52 46//53
+f 46//54 45//54 47//54
+f 46//54 47//54 48//55
+f 48//56 47//57 49//56
+f 48//56 49//56 50//57
+f 50//58 49//59 51//58
+f 50//58 51//58 52//59
+f 52//60 51//61 53//60
+f 52//60 53//60 54//60
+f 54//62 53//63 55//64
+f 54//62 55//64 56//65
+f 56//66 55//67 57//67
+f 56//66 57//67 58//68
+f 58//69 57//70 59//70
+f 58//69 59//70 60//71
+f 60//72 59//72 61//72
+f 60//72 61//72 62//73
+f 5//74 3//74 2//74
+f 2//74 63//74 61//74
+f 61//74 59//74 57//74
+f 57//74 55//74 53//74
+f 53//74 51//74 49//74
+f 49//74 47//74 45//74
+f 45//74 43//74 41//74
+f 41//74 39//74 37//74
+f 37//74 35//74 33//74
+f 33//74 31//74 29//74
+f 29//74 27//74 25//74
+f 25//74 23//74 21//74
+f 21//74 19//74 17//74
+f 17//74 15//74 13//74
+f 13//74 11//74 9//74
+f 9//74 7//74 5//74
+f 5//74 2//74 61//74
+f 61//74 57//74 53//74
+f 53//74 49//74 45//74
+f 45//74 41//74 37//74
+f 37//74 33//74 29//74
+f 29//74 25//74 21//74
+f 21//74 17//74 13//74
+f 13//74 9//74 5//74
+f 5//74 61//74 53//74
+f 53//74 45//74 37//74
+f 37//74 29//74 21//74
+f 21//74 13//74 5//74
+f 5//74 53//74 37//74
+f 37//74 21//74 5//74
+f 62//75 61//76 63//76
+f 62//75 63//76 64//75
+f 64//77 63//77 2//78
+f 64//77 2//78 1//78
+f 64//79 1//79 4//79
+f 4//79 6//79 8//79
+f 8//79 10//79 12//79
+f 12//79 14//79 16//79
+f 16//79 18//79 20//79
+f 20//79 22//79 24//79
+f 24//79 26//79 28//79
+f 28//79 30//79 32//79
+f 32//79 34//79 36//79
+f 36//79 38//79 40//79
+f 40//79 42//79 44//79
+f 44//79 46//79 48//79
+f 48//79 50//79 52//79
+f 52//79 54//79 56//79
+f 56//79 58//79 60//79
+f 60//79 62//79 64//79
+f 64//79 4//79 8//79
+f 8//79 12//79 16//79
+f 16//79 20//79 24//79
+f 24//79 28//79 32//79
+f 32//79 36//79 40//79
+f 40//79 44//79 48//79
+f 48//79 52//79 56//79
+f 56//79 60//79 64//79
+f 64//79 8//79 16//79
+f 16//79 24//79 32//79
+f 32//79 40//79 48//79
+f 48//79 56//79 64//79
+f 64//79 16//79 32//79
+f 32//79 48//79 64//79

data/ADF/PSMs/LND_400006_SIMPLE/low_res/tool yaw link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl None
+Ns 499.999983
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.800000 0.800000 0.800000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/low_res/yaw link simple.OBJ

@@ -0,0 +1,134 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib yaw link simple.mtl
+o /ambf/env/psm1/yaw_link_simple_yaw_link
+v 0.000000 0.010000 -0.025378
+v 0.000000 0.000000 -0.005378
+v 0.001951 0.009808 -0.025378
+v 0.003827 0.009239 -0.025378
+v 0.005556 0.008315 -0.025378
+v 0.007071 0.007071 -0.025378
+v 0.008315 0.005556 -0.025378
+v 0.009239 0.003827 -0.025378
+v 0.009808 0.001951 -0.025378
+v 0.010000 0.000000 -0.025378
+v 0.009808 -0.001951 -0.025378
+v 0.009239 -0.003827 -0.025378
+v 0.008315 -0.005556 -0.025378
+v 0.007071 -0.007071 -0.025378
+v 0.005556 -0.008315 -0.025378
+v 0.003827 -0.009239 -0.025378
+v 0.001951 -0.009808 -0.025378
+v 0.000000 -0.010000 -0.025378
+v -0.001951 -0.009808 -0.025378
+v -0.003827 -0.009239 -0.025378
+v -0.005556 -0.008315 -0.025378
+v -0.007071 -0.007071 -0.025378
+v -0.008315 -0.005556 -0.025378
+v -0.009239 -0.003827 -0.025378
+v -0.009808 -0.001951 -0.025378
+v -0.010000 0.000000 -0.025378
+v -0.009808 0.001951 -0.025378
+v -0.009239 0.003827 -0.025378
+v -0.008315 0.005556 -0.025378
+v -0.007071 0.007071 -0.025378
+v -0.005556 0.008315 -0.025378
+v -0.003827 0.009239 -0.025378
+v -0.001951 0.009808 -0.025378
+vn 0.0877 0.8910 0.4455
+vn 0.2599 0.8567 0.4455
+vn 0.4220 0.7896 0.4455
+vn 0.5681 0.6919 0.4455
+vn 0.6919 0.5681 0.4455
+vn 0.7896 0.4220 0.4455
+vn 0.8567 0.2599 0.4455
+vn 0.8910 0.0880 0.4455
+vn 0.8910 -0.0880 0.4455
+vn 0.8567 -0.2599 0.4455
+vn 0.7896 -0.4220 0.4455
+vn 0.6919 -0.5681 0.4455
+vn 0.5681 -0.6919 0.4455
+vn 0.4220 -0.7896 0.4455
+vn 0.2599 -0.8567 0.4455
+vn 0.0877 -0.8910 0.4455
+vn -0.0877 -0.8910 0.4455
+vn -0.2599 -0.8567 0.4455
+vn -0.4220 -0.7896 0.4455
+vn -0.5681 -0.6919 0.4455
+vn -0.6919 -0.5681 0.4455
+vn -0.7896 -0.4220 0.4455
+vn -0.8567 -0.2599 0.4455
+vn -0.8910 -0.0880 0.4455
+vn -0.8910 0.0880 0.4455
+vn -0.8567 0.2599 0.4455
+vn -0.7896 0.4220 0.4455
+vn -0.6919 0.5681 0.4455
+vn -0.5681 0.6919 0.4455
+vn -0.4220 0.7896 0.4455
+vn -0.2599 0.8567 0.4455
+vn -0.0877 0.8910 0.4455
+vn 0.0000 0.0000 -1.0000
+usemtl yaw_linkmat
+s 1
+f 1//1 2//1 3//1
+f 3//2 2//2 4//2
+f 4//3 2//3 5//3
+f 5//4 2//4 6//4
+f 6//5 2//5 7//5
+f 7//6 2//6 8//6
+f 8//7 2//7 9//7
+f 9//8 2//8 10//8
+f 10//9 2//9 11//9
+f 11//10 2//10 12//10
+f 12//11 2//11 13//11
+f 13//12 2//12 14//12
+f 14//13 2//13 15//13
+f 15//14 2//14 16//14
+f 16//15 2//15 17//15
+f 17//16 2//16 18//16
+f 18//17 2//17 19//17
+f 19//18 2//18 20//18
+f 20//19 2//19 21//19
+f 21//20 2//20 22//20
+f 22//21 2//21 23//21
+f 23//22 2//22 24//22
+f 24//23 2//23 25//23
+f 25//24 2//24 26//24
+f 26//25 2//25 27//25
+f 27//26 2//26 28//26
+f 28//27 2//27 29//27
+f 29//28 2//28 30//28
+f 30//29 2//29 31//29
+f 31//30 2//30 32//30
+f 32//31 2//31 33//31
+f 33//32 2//32 1//32
+f 33//33 1//33 3//33
+f 3//33 4//33 5//33
+f 5//33 6//33 7//33
+f 7//33 8//33 9//33
+f 9//33 10//33 11//33
+f 11//33 12//33 13//33
+f 13//33 14//33 15//33
+f 15//33 16//33 17//33
+f 17//33 18//33 19//33
+f 19//33 20//33 21//33
+f 21//33 22//33 23//33
+f 23//33 24//33 25//33
+f 25//33 26//33 27//33
+f 27//33 28//33 29//33
+f 29//33 30//33 31//33
+f 31//33 32//33 33//33
+f 33//33 3//33 5//33
+f 5//33 7//33 9//33
+f 9//33 11//33 13//33
+f 13//33 15//33 17//33
+f 17//33 19//33 21//33
+f 21//33 23//33 25//33
+f 25//33 27//33 29//33
+f 29//33 31//33 33//33
+f 33//33 5//33 9//33
+f 9//33 13//33 17//33
+f 17//33 21//33 25//33
+f 25//33 29//33 33//33
+f 33//33 9//33 17//33
+f 17//33 25//33 33//33

data/ADF/PSMs/LND_400006_SIMPLE/low_res/yaw link simple.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl yaw_linkmat
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.612400 0.800000 0.000000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_400006_SIMPLE/psm1.yaml

@@ -0,0 +1,940 @@
+# AMBF Version: (0.1)
+# Generated By: ambf_addon for Blender (3.0.0)
+# Link: https://github.com/WPI-AIM/ambf_addon
+# Generated on: 2024-05-02 11:35:57
+bodies:
+- BODY base link simple
+- BODY main insertion link simple
+- BODY pitch end link simple
+- BODY tool gripper1 simple
+- BODY tool gripper2 simple
+- BODY tool pitch link simple
+- BODY tool roll link simple
+- BODY tool yaw link simple
+- BODY yaw link simple
+- BODY tool id
+joints:
+- JOINT base link-yaw link
+- JOINT yaw link-pitch back link
+- JOINT pitch end link-main insertion link
+- JOINT main insertion link-tool roll link
+- JOINT tool roll link-tool pitch link
+- JOINT tool pitch link-tool yaw link
+- JOINT tool yaw link-tool gripper1 link
+- JOINT tool yaw link-tool gripper2 link
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: false
+gravity:
+  x: 0.0
+  y: 0.0
+  z: 0.0
+namespace: /ambf/env/psm1/
+
+BODY tool id:
+  name: tool_id/400006
+  mesh: ''
+  collision mesh: ''
+  collision mesh type: ''
+  passive: false
+
+BODY base link simple:
+  name: base link simple
+  mesh: base link simple.OBJ
+  mass: 0.0
+  inertia:
+    ix: 0.0
+    iy: 0.0
+    iz: 0.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.1296833754
+      y: 0.3934184313
+      z: 0.8731982708
+    orientation:
+      r: 0.6981000304
+      p: -0.5236000419
+      y: -3.1415901184
+  inertial offset:
+    position:
+      x: 0.0
+      y: -0.0157700013
+      z: 8.0e-05
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: false
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 0
+  collision shape: CONE
+  collision geometry:
+    axis: Y
+    height: 0.0199999996
+    radius: 0.0099999998
+  collision offset:
+    position:
+      x: 0.0
+      y: -0.0157700013
+      z: 8.0e-05
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.1316999942
+      g: 0.0156999994
+      r: 0.9373000264
+    specular:
+      b: 0.0078508316
+      g: 0.0078508316
+      r: 0.4686996794
+    transparency: 1.0
+BODY main insertion link simple:
+  name: main insertion link simple
+  mesh: main insertion link simple.OBJ
+  mass: 2.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.2977968454
+      y: 0.6755287051
+      z: 1.1643764973
+    orientation:
+      r: 0.8431073427
+      p: 0.7248593569
+      y: -2.1073946953
+  inertial offset:
+    position:
+      x: 0.0169000011
+      y: -0.0006
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 0
+  collision shape: BOX
+  collision geometry:
+    x: 0.0980099961
+    y: 0.0383800007
+    z: 0.0650200024
+  collision offset:
+    position:
+      x: -0.0012000001
+      y: -0.0003
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0588000007
+      g: 0.5569000244
+      r: 1.0
+    specular:
+      b: 0.2784500122
+      g: 0.2784500122
+      r: 0.5
+    transparency: 1.0
+BODY pitch end link simple:
+  name: pitch end link simple
+  mesh: pitch end link simple.OBJ
+  mass: 5.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.1710588783
+      y: 0.5189818144
+      z: 0.9448620081
+    orientation:
+      r: -2.2166404724
+      p: -0.5903488398
+      y: -1.1735681295
+  inertial offset:
+    position:
+      x: 0.00147
+      y: -0.0107300002
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 1
+  compound collision shape:
+  - name: '1'
+    shape: BOX
+    geometry:
+      x: 0.0405000001
+      y: 0.455249995
+      z: 0.0775600001
+    offset:
+      position:
+        x: -0.0032499998342245817
+        y: -0.16132700443267822
+        z: 7.000000096013537e-06
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: CYLINDER
+    geometry:
+      axis: Y
+      height: 0.1599999964
+      radius: 0.0070000002
+    offset:
+      position:
+        x: 0.041999999433755875
+        y: 0.09600000083446503
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '3'
+    shape: BOX
+    geometry:
+      x: 0.0730000064
+      y: 0.0579999983
+      z: 0.0759999976
+    offset:
+      position:
+        x: 0.009000000543892384
+        y: 0.04800000041723251
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.4478999972
+      g: 0.1626999974
+      r: 0.1418000013
+    specular:
+      b: 0.0813499987
+      g: 0.0813499987
+      r: 0.0709000006
+    transparency: 1.0
+BODY tool gripper1 simple:
+  name: tool gripper1 simple
+  mesh: tool gripper1 simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.135054633
+      y: 0.4023282826
+      z: 0.8824162483
+    orientation:
+      r: -2.1971511841
+      p: 0.3189770579
+      y: 0.1711520553
+  inertial offset:
+    position:
+      x: -0.0
+      y: 0.0004
+      z: -0.0001
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 10
+  compound collision shape:
+  - name: '1'
+    shape: CYLINDER
+    geometry:
+      axis: Z
+      height: 0.0037579997
+      radius: 0.0024000001
+    offset:
+      position:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: BOX
+    geometry:
+      x: 0.0009100001
+      y: 0.0085000005
+      z: 0.0025000002
+    offset:
+      position:
+        x: 0.0005000000237487257
+        y: 0.005100000184029341
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.5
+      g: 0.5
+      r: 0.5
+    specular:
+      b: 0.25
+      g: 0.25
+      r: 0.25
+    transparency: 1.0
+BODY tool gripper2 simple:
+  name: tool gripper2 simple
+  mesh: tool gripper2 simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.1350546479
+      y: 0.4023281932
+      z: 0.8824161887
+    orientation:
+      r: -2.2753975391
+      p: 0.5370188951
+      y: -0.0128443679
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0004
+      z: 0.0001
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 11
+  compound collision shape:
+  - name: '1'
+    shape: CYLINDER
+    geometry:
+      axis: Z
+      height: 0.0037579997
+      radius: 0.0024000001
+    offset:
+      position:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: BOX
+    geometry:
+      x: 0.0009100001
+      y: 0.0085000005
+      z: 0.0025000002
+    offset:
+      position:
+        x: -0.0005000000237487257
+        y: 0.005100000184029341
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.5
+      g: 0.5
+      r: 0.5
+    specular:
+      b: 0.25
+      g: 0.25
+      r: 0.25
+    transparency: 1.0
+BODY tool pitch link simple:
+  name: tool pitch link simple
+  mesh: tool pitch link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.1385011524
+      y: 0.4081131816
+      z: 0.8883875608
+    orientation:
+      r: 0.8389338255
+      p: 2.416138649
+      y: 1.0334900618
+  inertial offset:
+    position:
+      x: 0.0004
+      y: -0.0
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 3
+  collision shape: CAPSULE
+  collision geometry:
+    axis: X
+    height: 0.0129999993
+    radius: 0.0035000001
+  collision offset:
+    position:
+      x: 0.0041
+      y: -5.0e-05
+      z: 0.00011
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.3000000119
+      g: 0.3000000119
+      r: 0.3000000119
+    specular:
+      b: 0.150000006
+      g: 0.150000006
+      r: 0.150000006
+    transparency: 1.0
+BODY tool roll link simple:
+  name: tool roll link simple
+  mesh: tool roll link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.2093464285
+      y: 0.5270251632
+      z: 1.0111310482
+    orientation:
+      r: 0.6457930207
+      p: 2.5512983799
+      y: -1.1734799147
+  inertial offset:
+    position:
+      x: 0.0
+      y: -0.0
+      z: -0.0004
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 2
+  collision shape: CYLINDER
+  collision geometry:
+    axis: Z
+    height: 0.378099978
+    radius: 0.0042300001
+  collision offset:
+    position:
+      x: -0.0
+      y: 0.0
+      z: -0.00022
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.3000000119
+      g: 0.3000000119
+      r: 0.3000000119
+    specular:
+      b: 0.150000006
+      g: 0.150000006
+      r: 0.150000006
+    transparency: 1.0
+BODY tool yaw link simple:
+  name: tool yaw link simple
+  mesh: tool yaw link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.135054633
+      y: 0.4023282826
+      z: 0.8824162483
+    orientation:
+      r: 0.8728112578
+      p: 0.5236465931
+      y: 0.0002468046
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: false
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 4
+  collision shape: CYLINDER
+  collision geometry:
+    axis: Z
+    height: 0.0037
+    radius: 0.0022
+  collision offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.8000000119
+      g: 0.8000000119
+      r: 0.8000000119
+    specular:
+      b: 0.6400000191
+      g: 0.6400000191
+      r: 0.6400000191
+    transparency: 1.0
+BODY yaw link simple:
+  name: yaw link simple
+  mesh: yaw link simple.OBJ
+  mass: 5.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.1296833456
+      y: 0.3934184611
+      z: 0.873198092
+    orientation:
+      r: 0.8389549255
+      p: 2.4161999226
+      y: 1.0333834887
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: -0.0153799998
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 0
+  collision shape: CONE
+  collision geometry:
+    axis: Z
+    height: 0.0199999996
+    radius: 0.0099999998
+  collision offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: -0.0153799998
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0
+      g: 0.8000000119
+      r: 0.6123999953
+    specular:
+      b: 0.400000006
+      g: 0.400000006
+      r: 0.3061999977
+    transparency: 1.0
+JOINT base link-yaw link:
+  name: base link-yaw link
+  parent: BODY base link simple
+  child: BODY yaw link simple
+  parent axis:
+    x: 9.3e-09
+    y: -1.0
+    z: 1.192e-07
+  parent pivot:
+    x: -1.002e-07
+    y: -3.73e-08
+    z: -5.96e-08
+  child axis:
+    x: 1.341e-07
+    y: 1.0
+    z: 1.744e-07
+  child pivot:
+    x: -7.08e-08
+    y: -5.22e-08
+    z: -2.5e-08
+  joint limits:
+    high: 1.5990000017
+    low: -1.6049999705
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 5.0
+  offset: 1.570800066
+JOINT main insertion link-tool roll link:
+  name: main insertion link-tool roll link
+  parent: BODY main insertion link simple
+  child: BODY tool roll link simple
+  parent axis:
+    x: 0.9999996424
+    y: -0.0008000508
+    z: 0.000100141
+  parent pivot:
+    x: 0.0397999808
+    y: 9.69e-08
+    z: -5.22e-08
+  child axis:
+    x: 9.69e-08
+    y: -0.0001002887
+    z: 0.9999999404
+  child pivot:
+    x: 2.24e-08
+    y: -1.72e-08
+    z: -0.1911997944
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.001
+  offset: -1.5754004717
+JOINT pitch end link-main insertion link:
+  name: pitch end link-main insertion link
+  parent: BODY pitch end link simple
+  child: BODY main insertion link simple
+  parent axis:
+    x: 1.043e-07
+    y: 1.0000001192
+    z: -1.075e-07
+  parent pivot:
+    x: 0.0430000946
+    y: -0.2947999835
+    z: -9.3e-09
+  child axis:
+    x: 0.999999702
+    y: -0.0008003786
+    z: 0.0001002012
+  child pivot:
+    x: 6.71e-08
+    y: 1.937e-07
+    z: 6.09e-08
+  joint limits:
+    high: 0.2399999946
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: prismatic
+  max motor impulse: 2000.0
+  damping: 100.0
+  offset: -3.1378800869
+JOINT tool pitch link-tool yaw link:
+  name: tool pitch link-tool yaw link
+  parent: BODY tool pitch link simple
+  child: BODY tool yaw link simple
+  parent axis:
+    x: 4.47e-08
+    y: 1.0
+    z: 0.0001998649
+  parent pivot:
+    x: 0.009000048
+    y: 1.86e-08
+    z: 2.76e-08
+  child axis:
+    x: 0.0002997938
+    y: -3.204e-07
+    z: -0.9999999404
+  child pivot:
+    x: 3.27e-08
+    y: 3.73e-08
+    z: 7.5e-09
+  joint limits:
+    high: 1.4835000368
+    low: -1.4835000368
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0
+  offset: -1.5705001354
+JOINT tool roll link-tool pitch link:
+  name: tool roll link-tool pitch link
+  parent: BODY tool roll link simple
+  child: BODY tool pitch link simple
+  parent axis:
+    x: -0.000200126
+    y: 0.9999999404
+    z: 4.05e-08
+  parent pivot:
+    x: -2.61e-08
+    y: 1.55e-08
+    z: 0.1850003451
+  child axis:
+    x: 7.03e-08
+    y: -0.0002003643
+    z: 1.0
+  child pivot:
+    x: 7.08e-08
+    y: -8.2e-08
+    z: 9.8e-09
+  joint limits:
+    high: 1.5710000586
+    low: -1.5710000586
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0500000007
+  offset: -1.570600152
+JOINT tool yaw link-tool gripper1 link:
+  name: tool yaw link-tool gripper1 link
+  parent: BODY tool yaw link simple
+  child: BODY tool gripper1 simple
+  parent axis:
+    x: 0.0009134589
+    y: 1.49e-07
+    z: 0.9999995828
+  parent pivot:
+    x: 3.27e-08
+    y: 3.73e-08
+    z: 7.5e-09
+  child axis:
+    x: 0.0033295155
+    y: -0.0006790273
+    z: -0.9999942183
+  child pivot:
+    x: -2.24e-08
+    y: 1.12e-08
+    z: -1.12e-08
+  joint limits:
+    high: 1.5708000552
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller:
+    P: 10.0
+    I: 0.0
+    D: 0.200000003
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0049999999
+  offset: -2.5672557354
+JOINT tool yaw link-tool gripper2 link:
+  name: tool yaw link-tool gripper2 link
+  parent: BODY tool yaw link simple
+  child: BODY tool gripper2 simple
+  parent axis:
+    x: 0.0003456894
+    y: -5.22e-08
+    z: -0.9999998808
+  parent pivot:
+    x: 3.27e-08
+    y: 3.73e-08
+    z: 7.5e-09
+  child axis:
+    x: 0.0003455197
+    y: -1.788e-07
+    z: 0.9999999404
+  child pivot:
+    x: -5.45e-08
+    y: -1.118e-07
+    z: 5.59e-08
+  joint limits:
+    high: 1.5708000552
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller:
+    P: 10.0
+    I: 0.0
+    D: 0.200000003
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0049999999
+  offset: -3.1240899563
+JOINT yaw link-pitch back link:
+  name: yaw link-pitch back link
+  parent: BODY yaw link simple
+  child: BODY pitch end link simple
+  parent axis:
+    x: 2.4e-09
+    y: -8.6e-09
+    z: 1.0
+  parent pivot:
+    x: -7.08e-08
+    y: -5.22e-08
+    z: -2.5e-08
+  child axis:
+    x: 1.576e-07
+    y: 3.22e-08
+    z: 1.0000001192
+  child pivot:
+    x: 0.0430000536
+    y: 0.1440998316
+    z: 5.17e-08
+  joint limits:
+    high: 1.0472000146
+    low: -1.0472000146
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0
+  offset: -1.5707997084

data/ADF/PSMs/LND_400006_SIMPLE/psm2.yaml

@@ -0,0 +1,940 @@
+# AMBF Version: (0.1)
+# Generated By: ambf_addon for Blender (3.0.0)
+# Link: https://github.com/WPI-AIM/ambf_addon
+# Generated on: 2024-05-02 11:38:47
+bodies:
+- BODY base link simple
+- BODY main insertion link simple
+- BODY pitch end link simple
+- BODY tool gripper1 simple
+- BODY tool gripper2 simple
+- BODY tool pitch link simple
+- BODY tool roll link simple
+- BODY tool yaw link simple
+- BODY yaw link simple
+- BODY tool id
+joints:
+- JOINT base link-yaw link
+- JOINT yaw link-pitch back link
+- JOINT pitch end link-main insertion link
+- JOINT main insertion link-tool roll link
+- JOINT tool roll link-tool pitch link
+- JOINT tool pitch link-tool yaw link
+- JOINT tool yaw link-tool gripper1 link
+- JOINT tool yaw link-tool gripper2 link
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: false
+gravity:
+  x: 0.0
+  y: 0.0
+  z: 0.0
+namespace: /ambf/env/psm2/
+
+BODY tool id:
+  name: tool_id/400006
+  mesh: ''
+  collision mesh: ''
+  collision mesh type: ''
+  passive: false
+
+BODY base link simple:
+  name: base link simple
+  mesh: base link simple.OBJ
+  mass: 0.0
+  inertia:
+    ix: 0.0
+    iy: 0.0
+    iz: 0.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0703166127
+      y: 0.3934184313
+      z: 0.8731982708
+    orientation:
+      r: 0.69810009
+      p: 0.5236000419
+      y: -3.1415901184
+  inertial offset:
+    position:
+      x: 0.0
+      y: -0.0157700013
+      z: 8.0e-05
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: false
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.1000000015
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.5
+  visible: true
+  collision groups:
+  - 0
+  collision shape: CONE
+  collision geometry:
+    axis: Y
+    height: 0.0199999996
+    radius: 0.0099999998
+  collision offset:
+    position:
+      x: 0.0
+      y: -0.0157700013
+      z: 8.0e-05
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.1316999942
+      g: 0.0156999994
+      r: 0.9373000264
+    specular:
+      b: 0.0078508316
+      g: 0.0078508316
+      r: 0.4686996794
+    transparency: 1.0
+BODY main insertion link simple:
+  name: main insertion link simple
+  mesh: main insertion link simple.OBJ
+  mass: 2.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.2384289652
+      y: 0.6755279899
+      z: 1.1643782854
+    orientation:
+      r: 2.3057236671
+      p: 0.7247343063
+      y: -1.0340067148
+  inertial offset:
+    position:
+      x: 0.0169000011
+      y: -0.0006
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 0
+  collision shape: BOX
+  collision geometry:
+    x: 0.0980099961
+    y: 0.0383800007
+    z: 0.0650200024
+  collision offset:
+    position:
+      x: -0.0012000001
+      y: -0.0003
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0588000007
+      g: 0.5569000244
+      r: 1.0
+    specular:
+      b: 0.2784500122
+      g: 0.2784500122
+      r: 0.5
+    transparency: 1.0
+BODY pitch end link simple:
+  name: pitch end link simple
+  mesh: pitch end link simple.OBJ
+  mass: 5.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.11169184
+      y: 0.518981576
+      z: 0.9448626637
+    orientation:
+      r: -0.9249596596
+      p: -0.5903490186
+      y: -1.9680193663
+  inertial offset:
+    position:
+      x: 0.00147
+      y: -0.0107300002
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 1
+  compound collision shape:
+  - name: '1'
+    shape: BOX
+    geometry:
+      x: 0.0405000001
+      y: 0.455249995
+      z: 0.0775600001
+    offset:
+      position:
+        x: -0.0032499998342245817
+        y: -0.16132700443267822
+        z: 7.000000096013537e-06
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: CYLINDER
+    geometry:
+      axis: Y
+      height: 0.1599999964
+      radius: 0.0070000002
+    offset:
+      position:
+        x: 0.041999999433755875
+        y: 0.09600000083446503
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '3'
+    shape: BOX
+    geometry:
+      x: 0.0730000064
+      y: 0.0579999983
+      z: 0.0759999976
+    offset:
+      position:
+        x: 0.009000000543892384
+        y: 0.04800000041723251
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.4478999972
+      g: 0.1626999974
+      r: 0.1418000013
+    specular:
+      b: 0.0813499987
+      g: 0.0813499987
+      r: 0.0709000006
+    transparency: 1.0
+BODY tool gripper1 simple:
+  name: tool gripper1 simple
+  mesh: tool gripper1 simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0756143257
+      y: 0.4023283422
+      z: 0.8824591041
+    orientation:
+      r: -2.3932645321
+      p: -0.7121124268
+      y: 0.2153539956
+  inertial offset:
+    position:
+      x: -0.0
+      y: 0.0004
+      z: -0.0001
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.8000000119
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 10
+  compound collision shape:
+  - name: '1'
+    shape: CYLINDER
+    geometry:
+      axis: Z
+      height: 0.0037579997
+      radius: 0.0024000001
+    offset:
+      position:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: BOX
+    geometry:
+      x: 0.0009100001
+      y: 0.0085000005
+      z: 0.0025000002
+    offset:
+      position:
+        x: 0.0005000000237487257
+        y: 0.005100000184029341
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.5
+      g: 0.5
+      r: 0.5
+    specular:
+      b: 0.25
+      g: 0.25
+      r: 0.25
+    transparency: 1.0
+BODY tool gripper2 simple:
+  name: tool gripper2 simple
+  mesh: tool gripper2 simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0756143481
+      y: 0.4023283124
+      z: 0.8824591041
+    orientation:
+      r: -2.2626969814
+      p: -0.5100411177
+      y: -0.0125500737
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0004
+      z: 0.0001
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.8000000119
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 11
+  compound collision shape:
+  - name: '1'
+    shape: CYLINDER
+    geometry:
+      axis: Z
+      height: 0.0037579997
+      radius: 0.0024000001
+    offset:
+      position:
+        x: 0.0
+        y: 0.0
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  - name: '2'
+    shape: BOX
+    geometry:
+      x: 0.0009100001
+      y: 0.0085000005
+      z: 0.0025000002
+    offset:
+      position:
+        x: -0.0005000000237487257
+        y: 0.005100000184029341
+        z: 0.0
+      orientation:
+        r: 0.0
+        p: 0.0
+        y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.5
+      g: 0.5
+      r: 0.5
+    specular:
+      b: 0.25
+      g: 0.25
+      r: 0.25
+    transparency: 1.0
+BODY tool pitch link simple:
+  name: tool pitch link simple
+  mesh: tool pitch link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0790623873
+      y: 0.4081131518
+      z: 0.8884295225
+    orientation:
+      r: -0.8390993476
+      p: 0.7253254652
+      y: -1.033292532
+  inertial offset:
+    position:
+      x: 0.0004
+      y: -0.0
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 3
+  collision shape: CAPSULE
+  collision geometry:
+    axis: X
+    height: 0.0129999993
+    radius: 0.0035000001
+  collision offset:
+    position:
+      x: 0.0041
+      y: -5.0e-05
+      z: 0.00011
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.3000000119
+      g: 0.3000000119
+      r: 0.3000000119
+    specular:
+      b: 0.150000006
+      g: 0.150000006
+      r: 0.150000006
+    transparency: 1.0
+BODY tool roll link simple:
+  name: tool roll link simple
+  mesh: tool roll link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.1499391794
+      y: 0.5270245671
+      z: 1.0111550093
+    orientation:
+      r: 2.4957633018
+      p: 0.5904699564
+      y: 1.1737664938
+  inertial offset:
+    position:
+      x: 0.0
+      y: -0.0
+      z: -0.0004
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.0099999998
+    static: 0.5
+  restitution: 0.0
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 2
+  collision shape: CYLINDER
+  collision geometry:
+    axis: Z
+    height: 0.378099978
+    radius: 0.0042300001
+  collision offset:
+    position:
+      x: -0.0
+      y: 0.0
+      z: -0.00022
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.3000000119
+      g: 0.3000000119
+      r: 0.3000000119
+    specular:
+      b: 0.150000006
+      g: 0.150000006
+      r: 0.150000006
+    transparency: 1.0
+BODY tool yaw link simple:
+  name: tool yaw link simple
+  mesh: tool yaw link simple.OBJ
+  mass: 1.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0756143183
+      y: 0.4023283422
+      z: 0.8824591637
+    orientation:
+      r: 0.8725194335
+      p: -0.5234832168
+      y: 0.0003432785
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: false
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.1000000015
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 4
+  collision shape: CYLINDER
+  collision geometry:
+    axis: Z
+    height: 0.0037
+    radius: 0.0022
+  collision offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.8000000119
+      g: 0.8000000119
+      r: 0.8000000119
+    specular:
+      b: 0.6400000191
+      g: 0.6400000191
+      r: 0.6400000191
+    transparency: 1.0
+BODY yaw link simple:
+  name: yaw link simple
+  mesh: yaw link simple.OBJ
+  mass: 5.0
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: -0.0703166276
+      y: 0.3934184015
+      z: 0.8731983304
+    orientation:
+      r: -0.8389596343
+      p: 0.725397706
+      y: -1.0333858728
+  inertial offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: -0.0153799998
+    orientation:
+      r: 0
+      p: 0
+      y: 0
+  passive: true
+  publish children names: false
+  publish joint names: false
+  publish joint positions: false
+  friction:
+    rolling: 0.1000000015
+    static: 0.5
+  restitution: 0.1000000015
+  damping:
+    angular: 0.1000000015
+    linear: 0.0399999991
+  visible: true
+  collision groups:
+  - 0
+  collision shape: CONE
+  collision geometry:
+    axis: Z
+    height: 0.0199999996
+    radius: 0.0099999998
+  collision offset:
+    position:
+      x: 0.0
+      y: 0.0
+      z: -0.0153799998
+    orientation:
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  use material: false
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0
+      g: 0.8000000119
+      r: 0.6123999953
+    specular:
+      b: 0.400000006
+      g: 0.400000006
+      r: 0.3061999977
+    transparency: 1.0
+JOINT base link-yaw link:
+  name: base link-yaw link
+  parent: BODY base link simple
+  child: BODY yaw link simple
+  parent axis:
+    x: 5.05e-08
+    y: -1.0
+    z: 6.71e-08
+  parent pivot:
+    x: 4.35e-08
+    y: 4.28e-08
+    z: 7.26e-08
+  child axis:
+    x: 1.788e-07
+    y: 1.0000001192
+    z: -5.118e-07
+  child pivot:
+    x: -3.17e-08
+    y: -8.2e-08
+    z: -1.95e-08
+  joint limits:
+    high: 1.5990000017
+    low: -1.6049999705
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 5.0
+  offset: 1.570800066
+JOINT main insertion link-tool roll link:
+  name: main insertion link-tool roll link
+  parent: BODY main insertion link simple
+  child: BODY tool roll link simple
+  parent axis:
+    x: 0.999999702
+    y: -0.0008002296
+    z: 0.0001003413
+  parent pivot:
+    x: 0.0398001447
+    y: 1.863e-07
+    z: -1.329e-07
+  child axis:
+    x: -6.71e-08
+    y: -0.0001002594
+    z: 1.0
+  child pivot:
+    x: 1.118e-07
+    y: -1.49e-08
+    z: -0.1912000179
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.001
+  offset: -1.5754004717
+JOINT pitch end link-main insertion link:
+  name: pitch end link-main insertion link
+  parent: BODY pitch end link simple
+  child: BODY main insertion link simple
+  parent axis:
+    x: 7.45e-08
+    y: 1.0000001192
+    z: 1.905e-07
+  parent pivot:
+    x: 0.0430000126
+    y: -0.2948001027
+    z: -2.315e-07
+  child axis:
+    x: 0.999999702
+    y: -0.000800252
+    z: 0.0001000731
+  child pivot:
+    x: 1.043e-07
+    y: -1.043e-07
+    z: -2.2e-09
+  joint limits:
+    high: 0.2399999946
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: prismatic
+  max motor impulse: 2000.0
+  damping: 100.0
+  offset: -3.1379897594
+JOINT tool pitch link-tool yaw link:
+  name: tool pitch link-tool yaw link
+  parent: BODY tool pitch link simple
+  child: BODY tool yaw link simple
+  parent axis:
+    x: -2.24e-08
+    y: 0.9999999404
+    z: 0.0001998523
+  parent pivot:
+    x: 0.0089999605
+    y: 1.378e-07
+    z: 8.52e-08
+  child axis:
+    x: 0.0002997699
+    y: -3.427e-07
+    z: -1.0
+  child pivot:
+    x: 9.8e-09
+    y: -1.192e-07
+    z: -1.062e-07
+  joint limits:
+    high: 1.4835000368
+    low: -1.4835000368
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0
+  offset: -1.5705001354
+JOINT tool roll link-tool pitch link:
+  name: tool roll link-tool pitch link
+  parent: BODY tool roll link simple
+  child: BODY tool pitch link simple
+  parent axis:
+    x: -0.0001999692
+    y: 1.0000001192
+    z: -5.41e-08
+  parent pivot:
+    x: 9.31e-08
+    y: 6.12e-08
+    z: 0.1850000173
+  child axis:
+    x: -2.45e-08
+    y: -0.0002003568
+    z: 1.0
+  child pivot:
+    x: 1.68e-08
+    y: 6.71e-08
+    z: 7.44e-08
+  joint limits:
+    high: 1.5710000586
+    low: -1.5710000586
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0500000007
+  offset: -1.570600152
+JOINT tool yaw link-tool gripper1 link:
+  name: tool yaw link-tool gripper1 link
+  parent: BODY tool yaw link simple
+  child: BODY tool gripper1 simple
+  parent axis:
+    x: 0.0009134231
+    y: -1.043e-07
+    z: 0.9999995828
+  parent pivot:
+    x: 9.8e-09
+    y: -1.192e-07
+    z: -1.062e-07
+  child axis:
+    x: 0.0033293515
+    y: -0.0006791651
+    z: -0.9999942183
+  child pivot:
+    x: 0.0
+    y: -3.73e-08
+    z: 3.7e-09
+  joint limits:
+    high: 1.5708000552
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller:
+    P: 10.0
+    I: 0.0
+    D: 0.200000003
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0049999999
+  offset: -2.567132473
+JOINT tool yaw link-tool gripper2 link:
+  name: tool yaw link-tool gripper2 link
+  parent: BODY tool yaw link simple
+  child: BODY tool gripper2 simple
+  parent axis:
+    x: 0.0003456358
+    y: 3.055e-07
+    z: -0.9999999404
+  parent pivot:
+    x: 9.8e-09
+    y: -1.192e-07
+    z: -1.062e-07
+  child axis:
+    x: 0.0003454173
+    y: -4.47e-07
+    z: 0.9999998808
+  child pivot:
+    x: 3.63e-08
+    y: 6.15e-08
+    z: 9.69e-08
+  joint limits:
+    high: 1.5708000552
+    low: 0.0
+  enable feedback: false
+  passive: false
+  controller:
+    P: 10.0
+    I: 0.0
+    D: 0.200000003
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0049999999
+  offset: -3.1240899563
+JOINT yaw link-pitch back link:
+  name: yaw link-pitch back link
+  parent: BODY yaw link simple
+  child: BODY pitch end link simple
+  parent axis:
+    x: 5.14e-08
+    y: -6.45e-08
+    z: 1.0
+  parent pivot:
+    x: -3.17e-08
+    y: -8.2e-08
+    z: -1.95e-08
+  child axis:
+    x: 3.03e-07
+    y: -8.2e-09
+    z: 1.0000001192
+  child pivot:
+    x: 0.043000035
+    y: 0.1440999955
+    z: -8.2e-09
+  joint limits:
+    high: 1.0472000146
+    low: -1.0472000146
+  enable feedback: false
+  passive: false
+  controller output type: VELOCITY
+  type: revolute
+  max motor impulse: 50.0
+  damping: 0.0
+  offset: -1.5707997084

data/ADF/PSMs/LND_420006/ghosts_actuators_psm1.yaml

@@ -0,0 +1,98 @@
+# AMBF Version: (0.1)
+ghost objects: [GHOST right finger, GHOST left finger]
+actuators: [ACTUATOR Actuator0]
+joints: []
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: true
+namespace: /ambf/env/ghosts/psm1/
+
+collision geometry: &box_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+shape geometry: &shape_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+GHOST right finger:
+  name: right_finger_ghost
+  parent: psm1/BODY tool gripper right link
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+GHOST left finger:
+  name: left_finger_ghost
+  parent: psm1/BODY tool gripper left link
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+ACTUATOR Actuator0:
+  name: Actuator0
+  type: Constraint
+  location:
+    orientation: {p: 0.0, r: 0.0, y: 0.0}
+    position: {x: 0.0, y: -0.010, z: 0.0}
+  parent: /ambf/env/psm1/BODY tool yaw link
+  visible: False
+  visible size: 0.0005

data/ADF/PSMs/LND_420006/ghosts_actuators_psm2.yaml

@@ -0,0 +1,98 @@
+# AMBF Version: (0.1)
+ghost objects: [GHOST right finger, GHOST left finger]
+actuators: [ACTUATOR Actuator0]
+joints: []
+high resolution path: ./high_res/
+low resolution path: ./low_res/
+ignore inter-collision: true
+namespace: /ambf/env/ghosts/psm2/
+
+collision geometry: &box_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+shape geometry: &shape_geometry
+    x: 0.000315
+    y: 0.00517
+    z: 0.00158
+
+GHOST right finger:
+  name: right_finger_ghost
+  parent: psm2/BODY tool gripper right link
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+GHOST left finger:
+  name: left_finger_ghost
+  parent: psm2/BODY tool gripper left link
+  # mesh: ghost.STL
+  shape: BOX
+  geometry: *shape_geometry
+  # collision mesh type: CONVEX_HULL
+  collision margin: 0.0001
+  scale: 1.0
+  location:
+    position:
+      x: 0.0
+      y: 0.006855
+      z: 0.0
+    orientation:
+      r: 0.0
+      p: -0.0
+      y: 0.0
+  passive: false
+  collision groups: []
+  collision shape: BOX
+  collision geometry: *box_geometry
+  color components:
+    ambient:
+      level: 1.0
+    diffuse:
+      b: 0.0175
+      g: 0.0401
+      r: 0.8
+    specular:
+      b: 0.0201
+      g: 0.0201
+      r: 0.4
+    transparency: 0.4357
+
+ACTUATOR Actuator0:
+  name: Actuator0
+  type: Constraint
+  location:
+    orientation: {p: 0.0, r: 0.0, y: 0.0}
+    position: {x: 0.0, y: -0.010, z: 0.0}
+  parent: /ambf/env/psm2/BODY tool yaw link
+  visible: False
+  visible size: 0.0005

data/ADF/PSMs/LND_420006/high_res/base link.OBJ

@@ -0,0 +1,170 @@
+# Blender v3.3.8 OBJ File: 'full_scene_new_instruments_13.blend'
+# www.blender.org
+mtllib base link.mtl
+o /ambf/env/psm2/base_link_base_link_Cone.002
+v -0.010000 -0.025606 0.000000
+v 0.000000 -0.005606 0.000000
+v -0.009808 -0.025606 -0.001951
+v -0.009239 -0.025606 -0.003827
+v -0.008315 -0.025606 -0.005556
+v -0.007071 -0.025606 -0.007071
+v -0.005556 -0.025606 -0.008315
+v -0.003827 -0.025606 -0.009239
+v -0.001951 -0.025606 -0.009808
+v 0.000000 -0.025606 -0.010000
+v 0.001951 -0.025606 -0.009808
+v 0.003827 -0.025606 -0.009239
+v 0.005556 -0.025606 -0.008315
+v 0.007071 -0.025606 -0.007071
+v 0.008315 -0.025606 -0.005556
+v 0.009239 -0.025606 -0.003827
+v 0.009808 -0.025606 -0.001951
+v 0.010000 -0.025606 0.000000
+v 0.009808 -0.025606 0.001951
+v 0.009239 -0.025606 0.003827
+v 0.008315 -0.025606 0.005556
+v 0.007071 -0.025606 0.007071
+v 0.005556 -0.025606 0.008315
+v 0.003827 -0.025606 0.009239
+v 0.001951 -0.025606 0.009808
+v 0.000000 -0.025606 0.010000
+v -0.001951 -0.025606 0.009808
+v -0.003827 -0.025606 0.009239
+v -0.005556 -0.025606 0.008315
+v -0.007071 -0.025606 0.007071
+v -0.008315 -0.025606 0.005556
+v -0.009239 -0.025606 0.003827
+v -0.009808 -0.025606 0.001951
+vt 0.250000 0.490000
+vt 0.250000 0.250000
+vt 0.296822 0.485388
+vt 0.341844 0.471731
+vt 0.383337 0.449553
+vt 0.419706 0.419706
+vt 0.449553 0.383337
+vt 0.471731 0.341844
+vt 0.485388 0.296822
+vt 0.490000 0.250000
+vt 0.485388 0.203178
+vt 0.471731 0.158156
+vt 0.449553 0.116663
+vt 0.419706 0.080294
+vt 0.383337 0.050447
+vt 0.341844 0.028269
+vt 0.296822 0.014612
+vt 0.250000 0.010000
+vt 0.203178 0.014612
+vt 0.158156 0.028269
+vt 0.116663 0.050447
+vt 0.080294 0.080294
+vt 0.050447 0.116663
+vt 0.028269 0.158156
+vt 0.014612 0.203178
+vt 0.010000 0.250000
+vt 0.014612 0.296822
+vt 0.028269 0.341844
+vt 0.050447 0.383337
+vt 0.080294 0.419706
+vt 0.116663 0.449553
+vt 0.158156 0.471731
+vt 0.750000 0.490000
+vt 0.796822 0.485388
+vt 0.841844 0.471731
+vt 0.883337 0.449553
+vt 0.919706 0.419706
+vt 0.949553 0.383337
+vt 0.971731 0.341844
+vt 0.985388 0.296822
+vt 0.990000 0.250000
+vt 0.985388 0.203178
+vt 0.971731 0.158156
+vt 0.949553 0.116663
+vt 0.919706 0.080294
+vt 0.883337 0.050447
+vt 0.841844 0.028269
+vt 0.796822 0.014612
+vt 0.750000 0.010000
+vt 0.703178 0.014612
+vt 0.658156 0.028269
+vt 0.616663 0.050447
+vt 0.580294 0.080294
+vt 0.550447 0.116663
+vt 0.528269 0.158156
+vt 0.514612 0.203178
+vt 0.510000 0.250000
+vt 0.514612 0.296822
+vt 0.528269 0.341844
+vt 0.550447 0.383337
+vt 0.580294 0.419706
+vt 0.616663 0.449553
+vt 0.658156 0.471731
+vt 0.703178 0.485388
+vt 0.203178 0.485388
+vn -0.8910 0.4455 -0.0877
+vn -0.8567 0.4455 -0.2599
+vn -0.7896 0.4455 -0.4220
+vn -0.6919 0.4455 -0.5681
+vn -0.5681 0.4455 -0.6919
+vn -0.4220 0.4455 -0.7896
+vn -0.2599 0.4455 -0.8567
+vn -0.0880 0.4455 -0.8910
+vn 0.0880 0.4455 -0.8910
+vn 0.2599 0.4455 -0.8567
+vn 0.4220 0.4455 -0.7896
+vn 0.5681 0.4455 -0.6919
+vn 0.6919 0.4455 -0.5681
+vn 0.7896 0.4455 -0.4220
+vn 0.8567 0.4455 -0.2599
+vn 0.8910 0.4455 -0.0877
+vn 0.8910 0.4455 0.0877
+vn 0.8567 0.4455 0.2599
+vn 0.7896 0.4455 0.4220
+vn 0.6919 0.4455 0.5681
+vn 0.5681 0.4455 0.6919
+vn 0.4220 0.4455 0.7896
+vn 0.2599 0.4455 0.8567
+vn 0.0880 0.4455 0.8910
+vn -0.0880 0.4455 0.8910
+vn -0.2599 0.4455 0.8567
+vn -0.4220 0.4455 0.7896
+vn -0.5681 0.4455 0.6919
+vn -0.6919 0.4455 0.5681
+vn -0.7896 0.4455 0.4220
+vn 0.0000 -1.0000 -0.0000
+vn -0.8567 0.4455 0.2599
+vn -0.8910 0.4455 0.0877
+usemtl Material.016
+s 1
+f 1/1/1 2/2/1 3/3/1
+f 3/3/2 2/2/2 4/4/2
+f 4/4/3 2/2/3 5/5/3
+f 5/5/4 2/2/4 6/6/4
+f 6/6/5 2/2/5 7/7/5
+f 7/7/6 2/2/6 8/8/6
+f 8/8/7 2/2/7 9/9/7
+f 9/9/8 2/2/8 10/10/8
+f 10/10/9 2/2/9 11/11/9
+f 11/11/10 2/2/10 12/12/10
+f 12/12/11 2/2/11 13/13/11
+f 13/13/12 2/2/12 14/14/12
+f 14/14/13 2/2/13 15/15/13
+f 15/15/14 2/2/14 16/16/14
+f 16/16/15 2/2/15 17/17/15
+f 17/17/16 2/2/16 18/18/16
+f 18/18/17 2/2/17 19/19/17
+f 19/19/18 2/2/18 20/20/18
+f 20/20/19 2/2/19 21/21/19
+f 21/21/20 2/2/20 22/22/20
+f 22/22/21 2/2/21 23/23/21
+f 23/23/22 2/2/22 24/24/22
+f 24/24/23 2/2/23 25/25/23
+f 25/25/24 2/2/24 26/26/24
+f 26/26/25 2/2/25 27/27/25
+f 27/27/26 2/2/26 28/28/26
+f 28/28/27 2/2/27 29/29/27
+f 29/29/28 2/2/28 30/30/28
+f 30/30/29 2/2/29 31/31/29
+f 31/31/30 2/2/30 32/32/30
+f 1/33/31 3/34/31 4/35/31 5/36/31 6/37/31 7/38/31 8/39/31 9/40/31 10/41/31 11/42/31 12/43/31 13/44/31 14/45/31 15/46/31 16/47/31 17/48/31 18/49/31 19/50/31 20/51/31 21/52/31 22/53/31 23/54/31 24/55/31 25/56/31 26/57/31 27/58/31 28/59/31 29/60/31 30/61/31 31/62/31 32/63/31 33/64/31
+f 32/32/32 2/2/32 33/65/32
+f 33/65/33 2/2/33 1/1/33

data/ADF/PSMs/LND_420006/high_res/base link.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl Material.016
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.937000 0.015929 0.131984
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_420006/high_res/main insertion link.mtl

@@ -0,0 +1,82 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 8
+
+newmtl Material.017
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 0.555848 0.059000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shape.204
+Ns 97.656250
+Ka 1.000000 1.000000 1.000000
+Kd 0.246170 0.254378 0.288296
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shape.205
+Ns 96.100001
+Ka 1.000000 1.000000 1.000000
+Kd 0.748401 0.014784 0.001197
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+
+newmtl Shape.206
+Ns 90.000007
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 3
+
+newmtl Shape.207
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl Shape.208
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl Shape.209
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
+
+newmtl Shape.210
+Ns 10.000005
+Ka 1.000000 1.000000 1.000000
+Kd 0.898039 0.917647 0.929412
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2

data/ADF/PSMs/LND_420006/high_res/pitch end link.mtl

@@ -0,0 +1,12 @@
+# Blender MTL File: 'full_scene_new_instruments_13.blend'
+# Material Count: 1
+
+newmtl Material.018
+Ns 359.999993
+Ka 1.000000 1.000000 1.000000
+Kd 0.142016 0.163435 0.448000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2