Hugging Face's logo

Datasets:
byml
/
RoboTwin

Dataset card Files
xet
Community
RoboTwin / objects /001_bottles /model_data2.json
byml's picture
byml
Add files using upload-large-folder tool
6b90bff verified
raw
history blame contribute delete
7.53 kB
 {
"center": [
-0.00022170105850150628,
-5.290136454017612e-05,
0.000986688775194243
],
"extents": [
0.6271514186142244,
1.5718059093329915,
0.6264279364644038
],
"scale": [
0.15,
0.15,
0.15
],
"target_pose": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.0
],
[
0.0,
0.0,
1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_pose": [
[
[
6.123233995736766e-17,
-1.0,
0.0,
0.0
],
[
1.0,
6.123233995736766e-17,
0.0,
0.1
],
[
0.0,
0.0,
1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
-6.123233995736766e-17,
1.0,
0.0
],
[
1.0,
3.749399456654644e-33,
-6.123233995736766e-17,
0.1
],
[
0.0,
1.0,
6.123233995736766e-17,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
1.0,
1.2246467991473532e-16,
0.0
],
[
1.0,
-6.123233995736766e-17,
-7.498798913309288e-33,
0.1
],
[
0.0,
1.2246467991473532e-16,
-1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
-6.123233995736766e-17,
-1.0,
0.0
],
[
1.0,
3.749399456654644e-33,
6.123233995736766e-17,
0.1
],
[
0.0,
-1.0,
6.123233995736766e-17,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
-0.7071067811865476,
0.7071067811865475,
0.0
],
[
1.0,
4.329780281177467e-17,
-4.329780281177466e-17,
0.1
],
[
0.0,
0.7071067811865475,
0.7071067811865476,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
0.7071067811865475,
0.7071067811865476,
0.0
],
[
1.0,
-4.329780281177466e-17,
-4.329780281177467e-17,
0.1
],
[
0.0,
0.7071067811865476,
-0.7071067811865475,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
0.7071067811865475,
-0.7071067811865476,
0.0
],
[
1.0,
-4.329780281177466e-17,
4.329780281177467e-17,
0.1
],
[
0.0,
-0.7071067811865476,
-0.7071067811865475,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
-0.7071067811865476,
-0.7071067811865475,
0.0
],
[
1.0,
4.329780281177467e-17,
4.329780281177466e-17,
0.1
],
[
0.0,
-0.7071067811865475,
0.7071067811865476,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"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
]
],
"functional_matrix": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
6.123233995736766e-17,
-1.0,
0.0
],
[
0.0,
1.0,
6.123233995736766e-17,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"orientation_point": [
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.7859029546664957
],
[
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,
6,
7
]
],
"contact_points_mask": [
true
],
"contact_points_discription": [
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle.",
"Grasping the side of the bottle."
],
"target_point_discription": [
"The center of the bottle."
],
"functional_point_discription": [
"Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."
]
}