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RoboTwin / objects /001_bottles /model_data6.json
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 {
"center": [
-0.00016059979148469678,
0.0006795164426988169,
-0.0013636417626184888
],
"extents": [
0.722813268492751,
1.898948184559875,
0.7150243020235202
],
"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,
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],
[
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[
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[
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6.123233995736766e-17,
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],
[
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3.749399456654644e-33,
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],
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6.123233995736766e-17,
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],
[
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]
],
[
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0.0
],
[
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0.0
],
[
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[
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],
[
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6.123233995736766e-17,
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0.0
],
[
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6.123233995736766e-17,
0.0
],
[
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6.123233995736766e-17,
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[
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],
[
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[
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],
[
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0.0
],
[
1.0,
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0.0
],
[
0.0,
0.7071067811865476,
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0.0
],
[
0.0,
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1.0
]
],
[
[
6.123233995736766e-17,
0.7071067811865475,
-0.7071067811865476,
0.0
],
[
1.0,
-4.329780281177466e-17,
4.329780281177467e-17,
0.0
],
[
0.0,
-0.7071067811865476,
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0.0
],
[
0.0,
0.0,
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1.0
]
],
[
[
6.123233995736766e-17,
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0.0
],
[
1.0,
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4.329780281177466e-17,
0.0
],
[
0.0,
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0.0
],
[
0.0,
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]
],
"transform_matrix": [
[
1.0,
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0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.0
],
[
-0.0,
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1.0,
0.0
],
[
0.0,
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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,
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1.0
]
]
],
"orientation_point": [
[
1.0,
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0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.9494740922799375
],
[
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],
[
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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."
]
}