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RoboTwin / objects /001_bottles /model_data4.json
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 {
"center": [
-0.001184757292916613,
0.0013675439459811599,
0.0007276968128701456
],
"extents": [
0.5899063064477581,
1.798084130421796,
0.5825118242717211
],
"scale": [
0.132,
0.132,
0.132
],
"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,
0.2
],
[
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,
0.2
],
[
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,
0.2
],
[
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,
0.2
],
[
0.0,
-1.0,
6.123233995736766e-17,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
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0.7071067811865475,
0.0
],
[
1.0,
4.329780281177467e-17,
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0.2
],
[
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,
0.2
],
[
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,
0.2
],
[
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,
0.2
],
[
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,
0.899042065210898
],
[
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."
]
}