Hugging Face's logo

Datasets:
Fxxkrobotics
/
RoboTwin

ArXiv:
Dataset card Files
xet
Community
RoboTwin / objects /039_mug /model_data9.json
Fxxkrobotics's picture
Fxxkrobotics
Add files using upload-large-folder tool
ddd58d2 verified
raw
history blame contribute delete
6.83 kB
 {
"center": [
-0.12883318051674075,
0.7545518326148842,
0.08223718988571865
],
"extents": [
1.8691481711170506,
1.5101464537145355,
2.1633892430205965
],
"scale": [
0.07,
0.07,
0.07
],
"transform_matrix": [
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.0
],
[
-0.0,
0.0,
1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
"target_pose": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.0
],
[
0.0,
-0.0,
1.0,
0.3383300006389618
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_pose": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
-0.0,
1.4417599439620972
],
[
0.0,
0.0,
1.0,
0.8799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
-1.0,
-0.0,
0.0,
0.0
],
[
-0.0,
1.0,
-0.0,
1.4417599439620972
],
[
-0.0,
-0.0,
-1.0,
0.8799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
-0.0,
-0.0,
-1.0,
0.550000011920929
],
[
0.0,
1.0,
-0.0,
1.4417599439620972
],
[
1.0,
0.0,
0.0,
0.3799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
-0.0,
0.0,
1.0,
0.550000011920929
],
[
-0.0,
1.0,
-0.0,
1.4417599439620972
],
[
-1.0,
0.0,
0.0,
0.3799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
-0.0,
-0.0,
-1.0,
0.550000011920929
],
[
0.0,
1.0,
-0.0,
1.4417599439620972
],
[
1.0,
0.0,
0.0,
0.3799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
-0.0,
0.0,
1.0,
0.550000011920929
],
[
-0.0,
1.0,
-0.0,
1.4417599439620972
],
[
-1.0,
0.0,
0.0,
0.3799999952316284
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"functional_matrix": [
[
[
-0.0,
0.0,
1.0,
0.0
],
[
-0.0,
1.0,
-0.0,
1.0217599868774414
],
[
-1.0,
0.0,
0.0,
-0.5
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
-0.0,
-1.0,
0.0
],
[
0.0,
1.0,
-0.0,
0.32287999987602234
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"orientation_point": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
-0.0,
0.7417600154876709
],
[
0.0,
0.0,
1.0,
-0.0
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_group": [
[
0,
1
],
[
2,
3
],
[
4,
5
]
],
"contact_points_mask": [
true,
true,
true
],
"target_point_discription": [
""
],
"contact_points_discription": [
"Grasping the side of the cup.",
"Grasping the side of the cup.",
"Grasping the side of the cup.",
"Grasping the side of the cup.",
"Grasping the side of the cup.",
"Grasping the side of the cup."
],
"functional_point_discription": [
"Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
"Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
],
"orientation_point_discription": [
""
],
"stable": true
}