Add files using upload-large-folder tool

objects/004_fluted_block/textured0.mtl

@@ -0,0 +1,2 @@
+# Blender 4.1.1 MTL File: 'None'
+# www.blender.org

objects/022_test/base_cup.mtl

@@ -0,0 +1,9 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl textured
+Ka 0.40000000 0.40000000 0.40000000
+Kd 0.40000000 0.40000000 0.40000000
+Ks 0.40000000 0.40000000 0.40000000
+Ns 1.00000000
+map_Kd texture_diffuse.png

objects/022_test/model_data.json

@@ -0,0 +1,235 @@
+{
+    "center": [
+        0.0012759415733050335,
+        -0.0006611328954217814,
+        0.00020617066400923975
+    ],
+    "extents": [
+        0.9736485339411336,
+        1.0003373214163158,
+        0.9668133244433775
+    ],
+    "scale": [
+        0.09,
+        0.09,
+        0.09
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.5001686607081579
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                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,
+                0.4501686607081579
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.4592363291106043
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.4501686607081579
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                0.4592363291106043
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.4501686607081579
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                -0.4592363291106043
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.4501686607081579
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                -0.4592363291106043
+            ],
+            [
+                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,
+                -0.5001686607081579
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "orientation_point": [],
+    "contact_points_group": [
+        [
+            0,
+            1
+        ],
+        [
+            2,
+            3
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        true
+    ],
+    "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."
+    ],
+    "target_point_discription": [
+        "The center point on the bottom of the container."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/030_power_drill/model_data.json

@@ -0,0 +1,146 @@
+{
+    "center": [
+        0.009572147743643834,
+        -0.0015493778209931777,
+        0.0005237866716263403
+    ],
+    "extents": [
+        0.5625506790236643,
+        1.9070786785097391,
+        1.5731596026648205
+    ],
+    "scale": [
+        0.191,
+        0.191,
+        0.191
+    ],
+    "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,
+                -6.123233995736766e-17,
+                -1.0,
+                0.0
+            ],
+            [
+                1.0,
+                3.749399456654644e-33,
+                6.123233995736766e-17,
+                0.0
+            ],
+            [
+                0.0,
+                -1.0,
+                6.123233995736766e-17,
+                -0.23
+            ],
+            [
+                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,
+            0.9915618937147881,
+            0.12963414261969486,
+            0.8
+        ],
+        [
+            0.0,
+            -0.12963414261969486,
+            0.9915618937147881,
+            0.7
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "orientation_point": [],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grasping point"
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/030_power_drill/models.py

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+# import trimesh
+# import json
+# import numpy as np
+
+# file_path = "./base.glb"
+# with open(file_path, 'rb') as file_obj:
+#     mesh = trimesh.load(file_obj, file_type='glb')
+# # mesh = trimesh.load(file_path, file_type='glb')
+# oriented_bounding_box = mesh.bounding_box_oriented
+# scene = trimesh.Scene(mesh)
+
+# target_pose = [0, 0.815, 0.75]
+# target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+# target_trans_matrix_sphere = trimesh.transformations.translation_matrix(target_pose)
+# target_sphere.apply_transform(target_trans_matrix_sphere)
+# red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
+# target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+# target_trans_list = target_trans_matrix_sphere.tolist()
+
+
+# contact_pose = [0, 0, -0.25]
+# contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+# contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(contact_pose)
+# contact_sphere.apply_transform(contact_trans_matrix_sphere)
+# red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
+# contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+
+
+
+
+# # axis1
+# axis1 = trimesh.creation.axis(axis_length=1.5)
+# trans_matrix = trimesh.transformations.euler_matrix(-1.57, 0,1.57)
+# # trans_matrix1[0,3] = 1
+# # trans_matrix1[1,3] = 1
+# trans_matrix[2,3] = -0.25
+# axis1.apply_transform(trans_matrix)
+# transform_matrix_list = trans_matrix.tolist()
+
+
+# data = {
+#     'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+#     'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+#     'scale': 0.1,
+#     'contact_pose' : contact_pose,
+#     'target_pose' : target_pose,
+#     'trans_matrix' : transform_matrix_list
+# }
+# with open('./model_data.json', 'w') as json_file:
+#     json.dump(data, json_file, indent=4)
+    
+# # 将坐标轴添加到场景
+# axis = trimesh.creation.axis(axis_length=1.5)
+# # scene.add_geometry(axis)
+# scene.add_geometry(axis1)
+# scene.add_geometry(target_sphere)
+# scene.add_geometry(contact_sphere)
+# scene.show()
+
+import trimesh
+import urdfpy
+import json
+import numpy as np
+
+
+PI = np.pi
+
+red_color = [1.0, 0.0, 0.0, 0.5]  # red, A=1 表示不透明
+green_color = [0.0, 1.0, 0.0, 0.5]  # green, A=1 表示不透明
+blue_color = [0.0, 0.0, 1.0, 0.5]  # blue, A=1 表示不透明
+
+def create_model_data(id):
+    file_path = f"./base{id}.glb"
+    save_path = f"./model_data{id}.json"
+
+    with open(save_path, 'r') as json_file:
+        data = json.load(json_file)
+        
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='glb')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+
+    scale = [0.191,0.191,0.191]
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+    target_points_list = [target_trans_matrix_sphere.tolist()]
+
+    # # 可视化网格和坐标轴
+    # scene.add_geometry(target_sphere)
+
+    contact_points_list = []
+    contact_point_discription_list = []
+    orientation_point_list = []
+    functional_matrix = []
+
+    def add_contact_point(point_radius, pose:list, euler:list, discription: str):
+        contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
+        contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
+        contact_sphere.apply_transform(contact_trans_matrix_sphere)
+        contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+        contact_points_list.append(contact_trans_matrix_sphere.tolist())
+
+        axis = trimesh.creation.axis(axis_length=1.5)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+    add_contact_point(0.2, [0, 0, -0.23], [-PI/2, 0, PI/2], "Grasping point")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
+
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,-0.23])
+    # orientation_point.apply_transform(orientation_point_sphere)
+    # orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    # orientation_point_list = orientation_point_sphere.tolist()
+    # scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.8,0.7]) @ trimesh.transformations.euler_matrix(-0.13,0,0)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=1.5)
+    axis.apply_transform(functional_trans_matrix_sphere)
+    scene.add_geometry(axis)
+    scene.add_geometry(functional_sphere)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale,                                     # 缩放
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": functional_matrix,         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/033_fork/model_data.json

@@ -0,0 +1,146 @@
+{
+    "center": [
+        -0.0053181221719884545,
+        0.0015044679668657637,
+        -0.022289468242702035
+    ],
+    "extents": [
+        0.2131675289114259,
+        1.4674641154281873,
+        0.16994323300014927
+    ],
+    "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,
+                -6.123233995736766e-17,
+                -1.0,
+                0.0
+            ],
+            [
+                1.0,
+                3.749399456654644e-33,
+                6.123233995736766e-17,
+                -0.5
+            ],
+            [
+                0.0,
+                -1.0,
+                6.123233995736766e-17,
+                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,
+            -1.2246467991473532e-16,
+            7.498798913309288e-33,
+            0.0
+        ],
+        [
+            0.0,
+            6.123233995736766e-17,
+            1.0,
+            0.73
+        ],
+        [
+            -1.2246467991473532e-16,
+            1.0,
+            -6.123233995736766e-17,
+            0.05
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "orientation_point": [],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grasping the side of the bottle."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/033_fork/models.py

@@ -0,0 +1,175 @@
+# import trimesh
+# import json
+# import numpy as np
+
+# file_path = "./base.glb"
+# with open(file_path, 'rb') as file_obj:
+#     mesh = trimesh.load(file_obj, file_type='glb')
+# # mesh = trimesh.load(file_path, file_type='glb')
+# oriented_bounding_box = mesh.bounding_box_oriented
+# red_color = [1.0, 0.0, 0.0, 0.5]  # 红色, A=1 表示不透明
+
+# target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
+# target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, 0.7,0.05])
+# target_sphere.apply_transform(target_trans_matrix_sphere)
+# target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+# target_trans_list = target_trans_matrix_sphere.tolist()
+# # 创建一个场景
+# scene = trimesh.Scene(mesh)
+
+# # axis1
+# axis1 = trimesh.creation.axis(axis_length=1.5)
+# # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+# trans_matrix1 = trimesh.transformations.euler_matrix(1.57, 0,1.57)
+# # trans_matrix1[0,3] = 1
+# # trans_matrix1[1,3] = 1
+# # trans_matrix1[2,3] = -0.3
+# # 应用旋转矩阵到坐标轴
+# axis1.apply_transform(trans_matrix1)
+# # scene.add_geometry(axis1)
+# transform_matrix_list1 = trans_matrix1.tolist()
+
+
+# contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.06)
+# contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0, -0.55, 0])
+# contact_sphere.apply_transform(contact_trans_matrix_sphere)
+# contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+# contact_trans_list = contact_trans_matrix_sphere.tolist()
+
+
+# data = {
+#     'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+#     'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+#     # 'grasp_pose1': transform_matrix_list1,
+#     'scale': 0.1,
+#     'contact_trans_list' : contact_trans_list,
+#     'target_trans_list' : contact_trans_list
+# }
+# with open('./model_data.json', 'w') as json_file:
+#     json.dump(data, json_file, indent=4)
+
+# # 将坐标轴添加到场景
+# axis = trimesh.creation.axis(axis_length=1.5)
+# # axis.apply_transform(trimesh.transformations.euler_matrix(-1.57, 1.57, 0))
+# # scene.add_geometry(axis)
+# scene.add_geometry(axis1)
+# # 可视化网格和坐标轴
+# scene.add_geometry(target_sphere)
+# scene.add_geometry(contact_sphere)
+# scene.show()
+
+import trimesh
+import urdfpy
+import json
+import numpy as np
+
+
+PI = np.pi
+
+red_color = [1.0, 0.0, 0.0, 0.5]  # red, A=1 表示不透明
+green_color = [0.0, 1.0, 0.0, 0.5]  # green, A=1 表示不透明
+blue_color = [0.0, 0.0, 1.0, 0.5]  # blue, A=1 表示不透明
+
+def create_model_data(id):
+    file_path = f"./base{id}.glb"
+    save_path = f"./model_data{id}.json"
+
+    with open(save_path, 'r') as json_file:
+        data = json.load(json_file)
+        
+    with open(file_path, 'rb') as file_obj:
+        mesh = trimesh.load(file_obj, file_type='glb')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+
+    scale = [0.15,0.15,0.15]
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([red_color] * len(target_sphere.vertices))
+    target_points_list = [target_trans_matrix_sphere.tolist()]
+
+    # # 可视化网格和坐标轴
+    # scene.add_geometry(target_sphere)
+
+    contact_points_list = []
+    contact_point_discription_list = []
+    orientation_point_list = []
+    functional_matrix = []
+
+    def add_contact_point(point_radius, pose:list, euler:list, discription: str):
+        contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=point_radius)
+        contact_trans_matrix_sphere = trimesh.transformations.translation_matrix(pose) @ trimesh.transformations.euler_matrix(euler[0], euler[1], euler[2])
+        contact_sphere.apply_transform(contact_trans_matrix_sphere)
+        contact_sphere.visual.vertex_colors = np.array([red_color] * len(contact_sphere.vertices))
+        contact_points_list.append(contact_trans_matrix_sphere.tolist())
+
+        axis = trimesh.creation.axis(axis_length=1)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+    add_contact_point(0.05, [0, -0.5, 0], [-PI/2, 0, PI/2], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI/2, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, PI, 0], "Grasping the side of the bottle.")
+    # add_contact_point(0.3, [0, 0, 0], [0, -PI/2, 0], "Grasping the side of the bottle.")
+
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    # orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    # orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    # orientation_point.apply_transform(orientation_point_sphere)
+    # orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    # orientation_point_list = orientation_point_sphere.tolist()
+    # scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.05)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.73,0.05]) @ trimesh.transformations.euler_matrix(-PI/2,PI,0)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([blue_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=1)
+    axis.apply_transform(functional_trans_matrix_sphere)
+    scene.add_geometry(axis)
+    scene.add_geometry(functional_sphere)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale,                                     # 缩放
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": functional_matrix,         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/036_cabine/textured_objs copy/original-10.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
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+

objects/036_cabine/textured_objs copy/original-10.obj

@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 10
+mtllib original-10.mtl
+o mesh6/mesh6-geometry#mesh6-geometry
+v 0.399318 -0.803259 -0.433350
+v 0.399318 -0.767661 0.385389
+v 0.399318 -0.803259 0.385389
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+v -0.401623 -0.767661 -0.433350
+v -0.401623 -0.803259 -0.433350
+v -0.401623 -0.767661 0.385389
+vn 1 0 0
+vn -1 0 0
+vn 0 -1 0
+vn 0 1 0
+vn 0 0 -1
+vn 0 0 1
+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 1//3 3//3
+f 3//4 1//4 5//4
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+f 6//2 5//2 8//2
+f 8//1 5//1 6//1

objects/036_cabine/textured_objs copy/original-12.mtl

@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-12.obj

@@ -0,0 +1,20 @@
+# SSTK version 0.8.0
+# 12
+mtllib original-12.mtl
+o Component_15_1/Component_15/mesh7/mesh7-geometry#mesh7-geometry
+v 0.399318 0.811236 0.385389
+v -0.401623 0.775639 0.385389
+v 0.399318 0.775639 0.385389
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+usemtl material_0_0
+f 1/1/1 2/2/1 3/3/1
+f 2/2/1 1/1/1 4/4/1
+usemtl material_1_0
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2

objects/036_cabine/textured_objs copy/original-13.obj

@@ -0,0 +1,39 @@
+# SSTK version 0.8.0
+# 13
+mtllib original-13.mtl
+o mesh8/mesh8-geometry#mesh8-geometry
+v 0.399318 0.811236 0.385389
+v -0.401623 0.811236 -0.433350
+v -0.401623 0.811236 0.385389
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+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
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objects/036_cabine/textured_objs copy/original-14.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-14.obj

@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 14
+mtllib original-14.mtl
+o SP1/SP/mesh9/mesh9-geometry#mesh9-geometry
+v 0.399318 0.775639 -0.406652
+v -0.401623 0.597652 -0.406652
+v 0.399318 0.597652 -0.406652
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+v 0.399318 0.597652 -0.433350
+v -0.401623 0.775639 -0.433350
+v -0.401623 0.597652 -0.433350
+v 0.399318 0.775639 -0.433350
+vn 0 0 1
+vn 0 0 -1
+vn 0 -1 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
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+f 1//4 6//4 4//4
+f 4//3 6//3 1//3
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+f 5//2 6//2 8//2
+f 8//1 6//1 5//1

objects/036_cabine/textured_objs copy/original-15.obj

@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 15
+mtllib original-15.mtl
+o BACK1/BACK/mesh10/mesh10-geometry#mesh10-geometry
+v 0.399318 -0.767661 -0.406652
+v 0.399318 0.775639 -0.397753
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+vn 1 0 0
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+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 2//3 5//3 3//3
+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
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+f 5//2 6//2 8//2
+f 8//1 6//1 5//1

objects/036_cabine/textured_objs copy/original-16.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-18.mtl

@@ -0,0 +1,15 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+map_Kd ../images/texture_0.jpg
+
+newmtl material_1_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-21.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-22.obj

@@ -0,0 +1,15 @@
+# SSTK version 0.8.0
+# 22
+mtllib original-22.mtl
+o mesh13/mesh13-geometry#mesh13-geometry
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+usemtl material_0_0
+f 1//1 2//1 3//1
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+f 3//2 2//2 1//2
+f 4//2 1//2 2//2

objects/036_cabine/textured_objs copy/original-23.obj

@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 23
+mtllib original-23.mtl
+o db1l_2_1/db1l_2/mesh14/mesh14-geometry#mesh14-geometry
+v -0.383824 -0.362076 -0.362173
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+vn -1 0 0
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+f 8//1 5//1 6//1

objects/036_cabine/textured_objs copy/original-24.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-24.obj

@@ -0,0 +1,33 @@
+# SSTK version 0.8.0
+# 24
+mtllib original-24.mtl
+o db1r_2_1/db1r_2/mesh15/mesh15-geometry#mesh15-geometry
+v 0.363721 -0.362076 -0.362173
+v 0.363721 -0.753647 0.367573
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+v 0.381519 -0.753647 -0.362173
+v 0.381519 -0.362076 -0.362173
+v 0.381519 -0.753647 0.367573
+vn -1 0 0
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+usemtl material_0_0
+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
+f 3//2 2//2 1//2
+f 4//2 1//2 2//2
+f 5//3 1//3 3//3
+f 3//4 1//4 5//4
+f 6//4 2//4 4//4
+f 4//3 2//3 6//3
+f 1//3 5//3 7//3
+f 7//4 5//4 1//4
+f 2//4 6//4 8//4
+f 8//3 6//3 2//3
+f 5//2 6//2 7//2
+f 7//1 6//1 5//1
+f 6//2 5//2 8//2
+f 8//1 5//1 6//1

objects/036_cabine/textured_objs copy/original-25.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 1 1 1 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-25.obj

@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 25
+mtllib original-25.mtl
+o db1f_2_1/db1f_2/mesh16/mesh16-geometry#mesh16-geometry
+v -0.383824 -0.362076 0.367573
+v 0.381520 -0.753647 0.367573
+v -0.383824 -0.753647 0.367573
+v 0.381520 -0.362076 0.367573
+v -0.383824 -0.753647 0.385372
+v 0.381520 -0.362076 0.385372
+v 0.381520 -0.753647 0.385372
+v -0.383824 -0.362076 0.385372
+vn 0 0 -1
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+f 1//1 2//1 3//1
+f 2//1 1//1 4//1
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+f 4//2 1//2 2//2
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+f 3//4 5//4 2//4
+f 5//5 1//5 3//5
+f 3//6 1//6 5//6
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+f 4//3 6//3 1//3
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+f 6//2 5//2 7//2
+f 7//1 5//1 6//1
+f 5//2 6//2 8//2
+f 8//1 6//1 5//1

objects/036_cabine/textured_objs copy/original-27.mtl

@@ -0,0 +1,7 @@
+newmtl material_0_0
+illum 3
+d 1
+Ns 30
+Kd 0.7764705882352941 0.7764705882352941 0.7764705882352941 
+Ks 0.06666666666666667 0.06666666666666667 0.06666666666666667 
+

objects/036_cabine/textured_objs copy/original-27.obj

@@ -0,0 +1,81 @@
+# SSTK version 0.8.0
+# 27
+mtllib original-27.mtl
+o db3gr_2_1/db3gr_2/mesh18/mesh18-geometry#mesh18-geometry
+v 0.394868 -0.693330 -0.379972
+v 0.394868 -0.691291 0.385372
+v 0.394868 -0.693330 0.385372
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+v 0.385969 -0.693330 0.385372
+v 0.381519 -0.691291 -0.379972
+v 0.385969 -0.693330 -0.379972
+v 0.381519 -0.691291 0.385372
+v 0.385969 -0.698622 -0.379972
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objects/036_cabine/textured_objs copy/original-30.obj

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objects/036_cabine/textured_objs copy/original-31.obj

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objects/036_cabine/textured_objs copy/original-32.obj

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objects/036_cabine/textured_objs copy/original-34.obj

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objects/036_cabine/textured_objs copy/original-37.obj

@@ -0,0 +1,15 @@
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objects/036_cabine/textured_objs copy/original-38.mtl

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objects/036_cabine/textured_objs copy/original-39.mtl

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+

objects/036_cabine/textured_objs copy/original-4.obj

@@ -0,0 +1,44 @@
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objects/036_cabine/textured_objs copy/original-40.obj

@@ -0,0 +1,33 @@
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objects/036_cabine/textured_objs copy/original-41.mtl

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+

objects/036_cabine/textured_objs copy/original-41.obj

@@ -0,0 +1,43 @@
+# SSTK version 0.8.0
+# 41
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objects/036_cabine/textured_objs copy/original-42.mtl

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objects/036_cabine/textured_objs copy/original-42.obj

@@ -0,0 +1,43 @@
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objects/036_cabine/textured_objs copy/original-43.mtl

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objects/036_cabine/textured_objs copy/original-43.obj

@@ -0,0 +1,81 @@
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objects/036_cabine/textured_objs copy/original-44.mtl

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objects/036_cabine/textured_objs copy/original-44.obj

@@ -0,0 +1,81 @@
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objects/036_cabine/textured_objs copy/original-46.obj

@@ -0,0 +1,45 @@
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objects/036_cabine/textured_objs copy/original-47.mtl

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objects/036_cabine/textured_objs copy/original-47.obj

@@ -0,0 +1,179 @@
+# SSTK version 0.8.0
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