diff --git a/objects/006_green_bottle/model_data.json b/objects/006_green_bottle/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..098a331b9c5f072411af3100cc60d14e5c9c32db
--- /dev/null
+++ b/objects/006_green_bottle/model_data.json
@@ -0,0 +1,366 @@
+{
+    "center": [
+        -0.007973089177127688,
+        6.475638250147025e-05,
+        0.004951868964578779
+    ],
+    "extents": [
+        0.7130371681644687,
+        1.9072479975107315,
+        0.6987877561158361
+    ],
+    "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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0
+            ],
+            [
+                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,
+            0.9536239987553657
+        ],
+        [
+            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."
+    ]
+}
\ No newline at end of file
diff --git a/objects/020_hammer/model_data.json b/objects/020_hammer/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..74e0026ebe0c2eb98e9d85f072cdded2c529cd5d
--- /dev/null
+++ b/objects/020_hammer/model_data.json
@@ -0,0 +1,170 @@
+{
+    "center": [
+        -0.003247481392606069,
+        0.0885992355157306,
+        -0.10570571998224718
+    ],
+    "extents": [
+        0.33899723948887567,
+        2.217905187168237,
+        1.6975571233870577
+    ],
+    "scale": [
+        0.079,
+        0.079,
+        0.079
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.65
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                0.0007963267107332633,
+                -0.0007963264582434141,
+                -0.9999993658637698,
+                0.0
+            ],
+            [
+                0.9999996829318346,
+                6.341362302272584e-07,
+                0.0007963264582434141,
+                0.0
+            ],
+            [
+                0.0,
+                -0.9999996829318346,
+                0.0007963267107332633,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "transform_matrix": [
+        [
+            0.0007963267107332633,
+            -0.0007963264582434141,
+            -0.9999993658637698,
+            0.0
+        ],
+        [
+            0.9999996829318346,
+            6.341362302272584e-07,
+            0.0007963264582434141,
+            0.0
+        ],
+        [
+            -0.0,
+            -0.9999996829318346,
+            0.0007963267107332633,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "functional_matrix": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.8
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.65
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "orientation_point": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.9589525935841184
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grab the hammer's handle with the head facing outward."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        "Point 0: The head of the hammer is facing outward."
+    ]
+}
\ No newline at end of file
diff --git a/objects/020_hammer/models.py b/objects/020_hammer/models.py
new file mode 100644
index 0000000000000000000000000000000000000000..4b0d3d2f8e83ce656d7c021a71eae3d3a7a98410
--- /dev/null
+++ b/objects/020_hammer/models.py
@@ -0,0 +1,111 @@
+import trimesh
+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 = [0.079,0.079,0.079]
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.8,0.65])
+
+    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 = []
+
+    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], [-1.57,0,1.57], "Grab the hammer's handle with the head facing outward.")
+    # 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(-1.57,0,1.57)
+    transform_matrix = transform_matrix.tolist()
+
+    orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2 - 0.15,0])
+    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=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0.8,0.65]) @ trimesh.transformations.euler_matrix(0,0,0)
+    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": ["Point 0: The head of the hammer is facing outward."]
+    }
+    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)
+
+
diff --git a/objects/022_cup_with_liquid/base.mtl b/objects/022_cup_with_liquid/base.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..cd800e810b5a8f461fa7797ef1cd82bd5ce73dd6
--- /dev/null
+++ b/objects/022_cup_with_liquid/base.mtl
@@ -0,0 +1,7 @@
+
+newmtl texture_diffuse
+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
\ No newline at end of file
diff --git a/objects/022_cup_with_liquid/textured.obj b/objects/022_cup_with_liquid/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11c88eb12ef9a198f269c74a68ae91345445d94e
--- /dev/null
+++ b/objects/022_cup_with_liquid/textured.obj
@@ -0,0 +1,39193 @@
+mtllib base.mtl
+v -0.312227 -0.941102 -0.287768
+v -0.347253 -0.937178 0.294229
+v -0.297722 0.332621 0.350554
+v -0.318532 0.332712 -0.322355
+v -0.337258 -0.936135 -0.310898
+v -0.318836 -0.936002 -0.330343
+v -0.295463 -0.941223 -0.295896
+v -0.289893 -0.942080 -0.266471
+v -0.318226 -0.941342 -0.268005
+v -0.354788 -0.936374 -0.289968
+v -0.374864 -0.932874 0.317073
+v -0.393073 -0.932622 0.296262
+v -0.356323 -0.938550 0.273787
+v -0.325979 -0.941026 0.272398
+v -0.326619 -0.939461 0.303029
+v -0.354748 -0.933013 0.337662
+v -0.323897 0.332803 0.379505
+v -0.302005 0.332761 0.398427
+v -0.276785 0.332550 0.357149
+v -0.308583 0.332641 0.330463
+v -0.344245 0.332864 0.358881
+v -0.275088 0.332543 0.321599
+v -0.343981 0.332884 -0.354865
+v -0.363533 0.332921 -0.332213
+v -0.324548 0.332704 -0.298791
+v -0.298412 0.332649 -0.331265
+v -0.321089 0.332821 -0.375853
+v -0.295618 0.332632 -0.293292
+v -0.273575 0.332579 -0.303917
+v -0.279189 0.332598 -0.349414
+v -0.340356 0.332751 -0.282345
+v -0.304573 0.332650 -0.272103
+v -0.278507 0.332597 -0.274654
+v -0.251580 0.332549 -0.281136
+v -0.250142 0.332516 -0.316752
+v -0.318709 0.332692 -0.248739
+v -0.286359 0.332620 -0.248161
+v -0.255700 0.332571 -0.252133
+v -0.225901 0.332531 -0.257629
+v -0.224018 0.332499 -0.289506
+v -0.295056 0.332659 -0.220116
+v -0.260851 0.332604 -0.223491
+v -0.228651 0.332560 -0.227391
+v -0.196916 0.332526 -0.231460
+v -0.195408 0.332495 -0.263149
+v -0.266398 0.332639 -0.194587
+v -0.231960 0.332593 -0.197767
+v -0.198793 0.332561 -0.200781
+v -0.165968 0.332547 -0.203732
+v -0.164934 0.332511 -0.235367
+v -0.235278 0.332620 -0.168328
+v -0.200833 0.332590 -0.170622
+v -0.167148 0.332578 -0.172819
+v -0.133728 0.332584 -0.174867
+v -0.133047 0.332552 -0.206432
+v -0.202846 0.332608 -0.140739
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\ No newline at end of file
diff --git a/objects/035_apple/material_0.mtl b/objects/035_apple/material_0.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e2fe8df6fc7c18740ea30a0035d82f2fa0413da2
--- /dev/null
+++ b/objects/035_apple/material_0.mtl
@@ -0,0 +1,7 @@
+# https://github.com/mikedh/trimesh
+newmtl material_0
+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 material_0.png
\ No newline at end of file
diff --git a/objects/035_apple/model_data.json b/objects/035_apple/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..27bc4cf6ef8a1571d02e47c697f3f3cac56a6082
--- /dev/null
+++ b/objects/035_apple/model_data.json
@@ -0,0 +1,257 @@
+{
+    "center": [
+        0.0007644283471002568,
+        6.630637143470825e-05,
+        -0.0009445592317205928
+    ],
+    "extents": [
+        0.09270996178588131,
+        0.09113055406854671,
+        0.07790317673093121
+    ],
+    "scale": [
+        1,
+        1,
+        1
+    ],
+    "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": [
+        [
+            [
+                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
+            ]
+        ],
+        [
+            [
+                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,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                -7.498798913309288e-33,
+                1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                1.2246467991473532e-16,
+                -6.123233995736766e-17,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                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,
+                0.0
+            ],
+            [
+                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,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                -1.0,
+                -1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                0.0,
+                1.2246467991473532e-16,
+                -1.0,
+                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,
+            0.045565277034273356
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0,
+            1,
+            2,
+            3
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Grab the apple from top to bottom.",
+        "Grab the apple from top to bottom.",
+        "Grab the apple from top to bottom.",
+        "Grab the apple from top to bottom."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        "Point0: Apple center point, axis perpendicular to the apple ground downward"
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/035_apple/models.py b/objects/035_apple/models.py
new file mode 100644
index 0000000000000000000000000000000000000000..6b0614f4bbb96247097b6e5dc4de5dc5f20c7401
--- /dev/null
+++ b/objects/035_apple/models.py
@@ -0,0 +1,111 @@
+import trimesh
+import json
+import numpy as np
+
+
+PI = np.pi
+
+def create_model_data(id):
+    file_path = f"./textured{id}.obj"
+    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='obj')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    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
+
+    scale = data['scale']
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.005)
+    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=0.1,origin_size= 0.005)
+        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(0.03, [0, 0, 0], [PI/2, 0, 0], "Grab the apple from top to bottom.")
+    add_contact_point(0.03, [0, 0, 0], [PI/2, 0, PI/2], "Grab the apple from top to bottom.")
+    add_contact_point(0.03, [0, 0, 0], [PI/2, 0, PI], "Grab the apple from top to bottom.")
+    add_contact_point(0.03, [0, 0, 0], [PI/2, 0, -PI/2], "Grab the apple from top to bottom.")
+
+    
+    # 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=0.01)
+    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([red_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=0.1, origin_size= 0.005)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=0.1, radius=0.003)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(PI,0,0)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=0.1,origin_size= 0.005)
+    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': [[0,1,2,3]],
+        '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': ["Point0: Apple center point, axis perpendicular to the apple ground downward"],
+        '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)
\ No newline at end of file
diff --git a/objects/035_apple/textured.mtl b/objects/035_apple/textured.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..4505df836a59257fd6f42817679219afb9ee06ad
--- /dev/null
+++ b/objects/035_apple/textured.mtl
@@ -0,0 +1,3 @@
+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png
\ No newline at end of file
diff --git a/objects/035_apple/textured.obj b/objects/035_apple/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bb30736d5e68fcb9a2fa6bea93d66874d4d5e6d7
--- /dev/null
+++ b/objects/035_apple/textured.obj
@@ -0,0 +1,33175 @@
+# https://github.com/mikedh/trimesh
+mtllib material_0.mtl
+usemtl material_0
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diff --git a/objects/036_cabine/parts_render/1.txt b/objects/036_cabine/parts_render/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2758ee5746b968caf0112b343185aee363f0d38e
--- /dev/null
+++ b/objects/036_cabine/parts_render/1.txt
@@ -0,0 +1 @@
+1 cabinet Cabinet
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/11.txt b/objects/036_cabine/parts_render/11.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ed3c6e8091a557870bf9caa48cfcedfb3e520177
--- /dev/null
+++ b/objects/036_cabine/parts_render/11.txt
@@ -0,0 +1 @@
+11 drawer_back Drawer back
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/12.txt b/objects/036_cabine/parts_render/12.txt
new file mode 100644
index 0000000000000000000000000000000000000000..46b16f444f784a4663cddc89725e3048fab90823
--- /dev/null
+++ b/objects/036_cabine/parts_render/12.txt
@@ -0,0 +1 @@
+12 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/14.txt b/objects/036_cabine/parts_render/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4630d6aa3dfe82d7593698407c2fbc3d89f62a35
--- /dev/null
+++ b/objects/036_cabine/parts_render/14.txt
@@ -0,0 +1 @@
+14 drawer_box Drawer box
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/15.txt b/objects/036_cabine/parts_render/15.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a533b25a68d0181dbfaf9e54fce1bb8a40bc552c
--- /dev/null
+++ b/objects/036_cabine/parts_render/15.txt
@@ -0,0 +1 @@
+15 handle Handle
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/16.txt b/objects/036_cabine/parts_render/16.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1557461a8df8c4930aca9b144ab5a013dc07caa0
--- /dev/null
+++ b/objects/036_cabine/parts_render/16.txt
@@ -0,0 +1 @@
+16 drawer_front Drawer front
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/17.txt b/objects/036_cabine/parts_render/17.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6873a4ebd67f6bc0643714bea461b0afb11ab982
--- /dev/null
+++ b/objects/036_cabine/parts_render/17.txt
@@ -0,0 +1 @@
+17 drawer_side Drawer side
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/20.txt b/objects/036_cabine/parts_render/20.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b628e720bf8a80cd98fafe1b1ba5ebaff0f878e8
--- /dev/null
+++ b/objects/036_cabine/parts_render/20.txt
@@ -0,0 +1 @@
+20 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/21.txt b/objects/036_cabine/parts_render/21.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ffd14974bb86b69cf6a59bf625ec1d7e965b206b
--- /dev/null
+++ b/objects/036_cabine/parts_render/21.txt
@@ -0,0 +1 @@
+21 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/22.txt b/objects/036_cabine/parts_render/22.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/22.txt
@@ -0,0 +1 @@
+22 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/23.txt b/objects/036_cabine/parts_render/23.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/23.txt
@@ -0,0 +1 @@
+23 drawer_box Drawer box
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/25.txt b/objects/036_cabine/parts_render/25.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/25.txt
@@ -0,0 +1 @@
+25 drawer_front Drawer front
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/27.txt b/objects/036_cabine/parts_render/27.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/27.txt
@@ -0,0 +1 @@
+27 drawer_side Drawer side
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/28.txt b/objects/036_cabine/parts_render/28.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/28.txt
@@ -0,0 +1 @@
+28 drawer_back Drawer back
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/29.txt b/objects/036_cabine/parts_render/29.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/29.txt
@@ -0,0 +1 @@
+29 drawer_bottom Drawer bottom
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/31.txt b/objects/036_cabine/parts_render/31.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/31.txt
@@ -0,0 +1 @@
+31 drawer_rails Drawer rails
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/33.txt b/objects/036_cabine/parts_render/33.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c1b2a5ab9a1482af900a484edc690bdbf8f5a69e
--- /dev/null
+++ b/objects/036_cabine/parts_render/33.txt
@@ -0,0 +1 @@
+33 vertical_side_panel Vertical side panel
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/35.txt b/objects/036_cabine/parts_render/35.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/35.txt
@@ -0,0 +1 @@
+35 bottom_panel Bottom panel
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/36.txt b/objects/036_cabine/parts_render/36.txt
new file mode 100644
index 0000000000000000000000000000000000000000..546b3165044ad1dd53e42186d509043c3b0d0627
--- /dev/null
+++ b/objects/036_cabine/parts_render/36.txt
@@ -0,0 +1 @@
+36 top_panel Top panel
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/4.txt b/objects/036_cabine/parts_render/4.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/4.txt
@@ -0,0 +1 @@
+4 drawer Drawer
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/5.txt b/objects/036_cabine/parts_render/5.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/5.txt
@@ -0,0 +1 @@
+5 drawer Drawer
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/6.txt b/objects/036_cabine/parts_render/6.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/6.txt
@@ -0,0 +1 @@
+6 drawer_box Drawer box
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render/8.txt b/objects/036_cabine/parts_render/8.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render/8.txt
@@ -0,0 +1 @@
+8 drawer_front Drawer front
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/14.txt b/objects/036_cabine/parts_render_after_merging/14.txt
new file mode 100644
index 0000000000000000000000000000000000000000..44584291b4b24e99732c43e450bb032aee57ec43
--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/14.txt
@@ -0,0 +1 @@
+14 drawer_side drawer_side
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/16.txt b/objects/036_cabine/parts_render_after_merging/16.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/16.txt
@@ -0,0 +1 @@
+16 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/2.txt b/objects/036_cabine/parts_render_after_merging/2.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/2.txt
@@ -0,0 +1 @@
+2 cabinet_frame cabinet_frame
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/22.txt b/objects/036_cabine/parts_render_after_merging/22.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/22.txt
@@ -0,0 +1 @@
+22 drawer_side drawer_side
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/25.txt b/objects/036_cabine/parts_render_after_merging/25.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/25.txt
@@ -0,0 +1 @@
+25 handle handle
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/30.txt b/objects/036_cabine/parts_render_after_merging/30.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/30.txt
@@ -0,0 +1 @@
+30 drawer_side drawer_side
\ No newline at end of file
diff --git a/objects/036_cabine/parts_render_after_merging/32.txt b/objects/036_cabine/parts_render_after_merging/32.txt
new file mode 100644
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--- /dev/null
+++ b/objects/036_cabine/parts_render_after_merging/32.txt
@@ -0,0 +1 @@
+32 drawer_bottom drawer_bottom
\ No newline at end of file
diff --git a/objects/039_mug/model_data0 copy.json b/objects/039_mug/model_data0 copy.json
new file mode 100644
index 0000000000000000000000000000000000000000..e45559042be107d3202bc60c6872e5ec74535e97
--- /dev/null
+++ b/objects/039_mug/model_data0 copy.json	
@@ -0,0 +1,146 @@
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+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data0.json b/objects/039_mug/model_data0.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56e712e9430af9875879bec13676df50bcd0830
--- /dev/null
+++ b/objects/039_mug/model_data0.json
@@ -0,0 +1,346 @@
+{
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+        true,
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+        true
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+        "Grasping the side of the cup.",
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+        "Grasping the side of the cup.",
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+    ],
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+        ""
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+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data1.json b/objects/039_mug/model_data1.json
new file mode 100644
index 0000000000000000000000000000000000000000..15601a68ab1d6ecee488bda3ee9bd66a0604bc38
--- /dev/null
+++ b/objects/039_mug/model_data1.json
@@ -0,0 +1,346 @@
+{
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+        true,
+        true,
+        true
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+    "contact_points_discription": [
+        "Grasping the side of the cup.",
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+        "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": [
+        ""
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+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data2.json b/objects/039_mug/model_data2.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a879737dfdfb0b4a3e600000aca01f0be20bfb
--- /dev/null
+++ b/objects/039_mug/model_data2.json
@@ -0,0 +1,346 @@
+{
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+            5
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
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+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data3.json b/objects/039_mug/model_data3.json
new file mode 100644
index 0000000000000000000000000000000000000000..787ea4b244adc5076bafd303a9aef87f0df8a30f
--- /dev/null
+++ b/objects/039_mug/model_data3.json
@@ -0,0 +1,346 @@
+{
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+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data4.json b/objects/039_mug/model_data4.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc83e9d3a562f9d133dfa9c79951ffe69051d370
--- /dev/null
+++ b/objects/039_mug/model_data4.json
@@ -0,0 +1,346 @@
+{
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+        [
+            4,
+            5
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data5.json b/objects/039_mug/model_data5.json
new file mode 100644
index 0000000000000000000000000000000000000000..02d1895c5f49b5b0a1e29d24fdf80f4b0beb970b
--- /dev/null
+++ b/objects/039_mug/model_data5.json
@@ -0,0 +1,346 @@
+{
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+            4,
+            5
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
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+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data6.json b/objects/039_mug/model_data6.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7e7cceb337b9096f3b4d99151d468055375461
--- /dev/null
+++ b/objects/039_mug/model_data6.json
@@ -0,0 +1,346 @@
+{
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+            4,
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+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data7.json b/objects/039_mug/model_data7.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d5d906c85d540a1fabce3d426348f47e5750192
--- /dev/null
+++ b/objects/039_mug/model_data7.json
@@ -0,0 +1,346 @@
+{
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+        ],
+        [
+            4,
+            5
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        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.",
+        "Grasping the side of the cup.",
+        "Grasping the side of the cup."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data8.json b/objects/039_mug/model_data8.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a676c7cc98bc90090d2c8ab615f704b929b9c1
--- /dev/null
+++ b/objects/039_mug/model_data8.json
@@ -0,0 +1,346 @@
+{
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+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.64
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.65
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.3
+            ],
+            [
+                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": [
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.05
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                -0.6
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                -0.6795054739798444
+            ],
+            [
+                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,
+            0.0
+        ],
+        [
+            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
+    ],
+    "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."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/model_data9.json b/objects/039_mug/model_data9.json
new file mode 100644
index 0000000000000000000000000000000000000000..1903fd72d10639b12cae2fe1edff993eda2c1efe
--- /dev/null
+++ b/objects/039_mug/model_data9.json
@@ -0,0 +1,346 @@
+{
+    "center": [
+        0.12977315421593222,
+        -0.0003198852373147552,
+        0.08071536066235653
+    ],
+    "extents": [
+        1.831843335645293,
+        1.4835164998561754,
+        2.1240733039931277
+    ],
+    "scale": [
+        0.07,
+        0.07,
+        0.07
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.7417582499280877
+            ],
+            [
+                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,
+                0.7
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.88
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.7
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                0.88
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                -1.0,
+                0.55
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.7
+            ],
+            [
+                1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.38
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.55
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.7
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.38
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                -1.0,
+                0.55
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.7
+            ],
+            [
+                1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.38
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.55
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.7
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.38
+            ],
+            [
+                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": [
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.28
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                -0.5
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                -0.7417582499280877
+            ],
+            [
+                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,
+            0.0
+        ],
+        [
+            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
+    ],
+    "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."
+    ],
+    "target_point_discription": [
+        ""
+    ],
+    "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": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/039_mug/models.py b/objects/039_mug/models.py
new file mode 100644
index 0000000000000000000000000000000000000000..0ac281b081636b0b27ae621b27e7328c5a65f174
--- /dev/null
+++ b/objects/039_mug/models.py
@@ -0,0 +1,136 @@
+import trimesh
+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 = data['scale']
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,-oriented_bounding_box.extents[1]/2,0])
+
+    target_sphere.apply_transform(target_trans_matrix_sphere)
+    target_sphere.visual.vertex_colors = np.array([blue_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 = []
+
+    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(0.1, np.array(data['contact_points_pose'][0])[:3,3], [0, 0, 0], "Grasping the side of the cup.")
+    add_contact_point(0.1, np.array(data['contact_points_pose'][1])[:3,3], [0, PI, 0], "Grasping the side of the cup.")
+    add_contact_point(0.1, np.array(data['contact_points_pose'][2])[:3,3], [0, -PI/2, 0], "Grasping the side of the cup.")
+    add_contact_point(0.1, np.array(data['contact_points_pose'][3])[:3,3], [0, PI/2, 0], "Grasping the side of the cup.")
+    add_contact_point(0.1, np.array(data['contact_points_pose'][4])[:3,3] * [-1,1,1], [0, -PI/2, 0], "Grasping the side of the cup.")
+    add_contact_point(0.1, np.array(data['contact_points_pose'][5])[:3,3] * [-1,1,1], [0, PI/2, 0], "Grasping the side of the cup.")
+    # add_contact_point(0.1, np.array(data['contact_pose'][1])[:3,3], [0, PI/2, 0], "Grasping the side of the cup.")
+    # add_contact_point(0.1, np.array(data['contact_pose'][2])[:3,3], [0, -PI/2, 0], "Grasping the side of the cup.")
+
+    
+    # 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([0,0,0])
+    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_matrix_list = []
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix(np.array(data['functional_matrix'][0])[:3,3]) @ trimesh.transformations.euler_matrix(0,PI/2,0)
+    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)
+    functional_matrix_list.append(functional_matrix)
+    
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix(target_trans_matrix_sphere[:3,3]) @ trimesh.transformations.euler_matrix(PI/2,0,0)
+    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)
+    functional_matrix_list.append(functional_matrix)
+
+    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_list,         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0,1],[2,3],[4,5]],
+        'contact_points_mask': [True,True,True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': [""],  # 目标点描述
+        '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': [""]
+    }
+    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 = ""
+    for i in range(10):
+        # i = 0
+        create_model_data(i)
+
+
+
+
diff --git a/objects/040_rack/model_data.json b/objects/040_rack/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff350e817d16f2f8600d69b171d382b74652570
--- /dev/null
+++ b/objects/040_rack/model_data.json
@@ -0,0 +1,142 @@
+{
+    "center": [
+        0.014445583863810627,
+        0.09807205553612744,
+        0.0
+    ],
+    "extents": [
+        0.1308028321317928,
+        0.2316076616630778,
+        0.1
+    ],
+    "scale": [
+        1.1,
+        1.1,
+        1.1
+    ],
+    "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": [],
+    "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": [[
+        [
+            -0.7818314824680298,
+            -3.817773950736578e-17,
+            -0.6234898018587336,
+            0.06
+        ],
+        [
+            0.6234898018587336,
+            -4.787337112385514e-17,
+            -0.7818314824680298,
+            0.157
+        ],
+        [
+            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,
+            0.1158038308315389
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [],
+    "target_point_discription": [
+        "The center point on the bottom of the track."
+    ],
+    "functional_point_discription": [
+        "Point0: The end of the bracket, the axis direction is the same as the negative direction of the bracket."
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/040_rack/models.py b/objects/040_rack/models.py
new file mode 100644
index 0000000000000000000000000000000000000000..d362c50b74ae8eb4cced009af93ff8d52f995315
--- /dev/null
+++ b/objects/040_rack/models.py
@@ -0,0 +1,180 @@
+# import trimesh
+# import json
+# import numpy as np
+
+
+# id = ''
+# try:
+#     file_path = f"./base{id}.glb"
+#     save_path = f"./model_data{id}.json"
+#     with open(file_path, 'rb') as file_obj:
+#         mesh = trimesh.load(file_obj, file_type='glb')
+# except:
+#     file_path = f"./textured{id}.obj"
+#     save_path = f"./model_data{id}.json"
+#     with open(file_path, 'rb') as file_obj:
+#         mesh = trimesh.load(file_obj, file_type='obj')
+
+# 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
+
+# scale = [1,1,1]
+
+# target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
+# target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.088,0.19,0])
+# 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()
+
+# contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.001)
+# contact_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0])
+# 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()
+
+# # 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(0,0,0)
+# # 应用旋转矩阵到坐标轴
+# axis1.apply_transform(trans_matrix1)
+# transform_matrix_list1 = trans_matrix1.tolist()
+
+# data = {
+#     'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+#     'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+#     'scale': scale,
+#     'target_pose': target_trans_list,    
+#     'contact_pose' : [contact_trans_list],
+#     'trans_matrix' : transform_matrix_list1
+# }
+# with open(save_path, '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,origin_size= 0.05)
+# # axis.apply_transform(trimesh.transformations.euler_matrix(0, -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 json
+import numpy as np
+
+
+PI = np.pi
+
+def create_model_data(id):
+    try:
+        file_path = f"./base{id}.glb"
+        save_path = f"./model_data{id}.json"
+        with open(file_path, 'rb') as file_obj:
+            mesh = trimesh.load(file_obj, file_type='glb')
+    except:
+        file_path = f"./textured{id}.obj"
+        save_path = f"./model_data{id}.json"
+        with open(file_path, 'rb') as file_obj:
+            mesh = trimesh.load(file_obj, file_type='obj')
+
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    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
+
+    scale = [1,1,1]
+
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
+    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 = []
+
+    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=0.01)
+        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(0.3, [0, 0, 0], [0, 0, 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.")
+    # 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=0.01)
+    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([red_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=0.01)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.01)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.06,0.157,0]) @ trimesh.transformations.euler_matrix(-PI/2,0,PI/2 + PI/3.5)
+    functional_sphere.apply_transform(functional_trans_matrix_sphere)
+    functional_sphere.visual.vertex_colors = np.array([red_color] * len(functional_sphere.vertices))
+    functional_matrix = functional_trans_matrix_sphere.tolist()
+    axis = trimesh.creation.axis(axis_length=0.1, origin_size=0.01)
+    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 point on the bottom of the track."],
+        'functional_point_discription': ["The end of the bracket, the axis direction is the same as the negative direction of the bracket."],
+        '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)
\ No newline at end of file
diff --git a/objects/040_rack/textured copy.obj b/objects/040_rack/textured copy.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c5a3476da7956c144dc8aa9e8d8ed7b2f27dedcf
--- /dev/null
+++ b/objects/040_rack/textured copy.obj	
@@ -0,0 +1,4137 @@
+mtllib simple_rack.mtl
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diff --git a/objects/040_rack/textured.obj b/objects/040_rack/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..17df15fa034054b8309f28662bd608182dea83af
--- /dev/null
+++ b/objects/040_rack/textured.obj
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diff --git a/objects/042_wooden_box/textured.obj b/objects/042_wooden_box/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..82944afdb47851eb87f7fb32e0c71441a0630f04
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diff --git a/objects/3614/bounding_box.json b/objects/3614/bounding_box.json
new file mode 100644
index 0000000000000000000000000000000000000000..80b7b23a5cbdb5081b1e1fd5e00b36dd978a4b42
--- /dev/null
+++ b/objects/3614/bounding_box.json
@@ -0,0 +1 @@
+{"min": [-0.261607, -0.634571, -0.264778], "max": [0.268656, 0.998945, 0.255103]}
\ No newline at end of file
diff --git a/objects/3614/mobility.urdf b/objects/3614/mobility.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..082bef2c57cae8b848436775789e1444297dfcb7
--- /dev/null
+++ b/objects/3614/mobility.urdf
@@ -0,0 +1,99 @@
+<?xml version="1.0" ?>
+<robot name="partnet_2927d6c8438f6e24fe6460d8d9bd16c6">
+	<link name="base"/>
+	<link name="link_0">
+		<visual name="lid-11">
+			<origin xyz="-0.039569178906383895 -0.0007748030724187586 -0.005383308710641658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="-0.039569178906383895 -0.0007748030724187586 -0.005383308710641658"/>
+			<geometry>
+				<mesh filename="textured_objs/original-2.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_0" type="continuous">
+		<origin xyz="0.0 0.0 0.0"/>
+		<axis xyz="-0.019383828774459173 0.999811104821856 -0.0014219201604066861"/>
+		<child link="link_0"/>
+		<parent link="link_0_helper"/>
+	</joint>
+	<link name="link_1">
+		<visual name="body-9">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</visual>
+		<visual name="neck-10">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</visual>
+		<visual name="other_leaf-13">
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</visual>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-2.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-5.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-3.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/new-1.obj"/>
+			</geometry>
+		</collision>
+		<collision>
+			<origin xyz="0 0 0"/>
+			<geometry>
+				<mesh filename="textured_objs/original-6.obj"/>
+			</geometry>
+		</collision>
+	</link>
+	<joint name="joint_1" type="fixed">
+		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
+		<child link="link_1"/>
+		<parent link="base"/>
+	</joint>
+	<link name="link_0_helper"/>
+	<joint name="joint_2" type="prismatic">
+		<origin xyz="0.039569178906383895 0.0007748030724187586 0.005383308710641658"/>
+		<axis xyz="-0.019383828774459173 0.999811104821856 -0.0014219201604066861"/>
+		<child link="link_0_helper"/>
+		<parent link="link_1"/>
+		<limit lower="-0.008000000000000007" upper="0.02400000000000002"/>
+	</joint>
+</robot>
diff --git a/objects/3614/mobility_v2.json b/objects/3614/mobility_v2.json
new file mode 100644
index 0000000000000000000000000000000000000000..79df2aac1e6b60fc1a0611f37625a6d840cedaa3
--- /dev/null
+++ b/objects/3614/mobility_v2.json
@@ -0,0 +1 @@
+[{"id":0,"parent":1,"joint":"slider","name":"lid","parts":[{"id":11,"name":"lid","children":[]}],"jointData":{"axis":{"origin":[0.039569178906383895,0.0007748030724187586,0.005383308710641658],"direction":[-0.019383828774459173,0.999811104821856,-0.0014219201604066861]},"limit":{"a":-0.008000000000000007,"b":0.02400000000000002,"noLimit":false,"rotates":true,"noRotationLimit":false,"rotationLimit":180}}},{"id":1,"parent":-1,"joint":"heavy","name":"body","parts":[{"id":9,"name":"body","children":[]},{"id":10,"name":"neck","children":[]},{"id":13,"name":"other_leaf","children":[]}],"jointData":{}}]
\ No newline at end of file
diff --git a/objects/3614/parts_render_after_merging/1.txt b/objects/3614/parts_render_after_merging/1.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4694037e2139ddf4cb8d6eae34e78ce8af971689
--- /dev/null
+++ b/objects/3614/parts_render_after_merging/1.txt
@@ -0,0 +1 @@
+1 normal_bottle normal_bottle
\ No newline at end of file
diff --git a/objects/3614/point_sample/pts-10000.pts b/objects/3614/point_sample/pts-10000.pts
new file mode 100644
index 0000000000000000000000000000000000000000..e347095991b5b0ee865fdff20f01bf99c7ff6441
--- /dev/null
+++ b/objects/3614/point_sample/pts-10000.pts
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diff --git a/objects/3614/tree_hier.html b/objects/3614/tree_hier.html
new file mode 100644
index 0000000000000000000000000000000000000000..0e826259a68cd93e4f7207daf3ad83935c009eca
--- /dev/null
+++ b/objects/3614/tree_hier.html
@@ -0,0 +1,2 @@
+<html><head><meta charset="UTF-8"><title>Simple Viewer</title><style>table {table-layout: fixed; }th, td { width: 100px; }</style></head><body>
+<table><tr><td><p>0 bottle Bottle</p><a href="parts_render/0.png"><img src="parts_render/0.png" width="100px" height="100px"/></a></td></tr><tr><td><p>1 normal_bottle Normal Bottle</p><a href="parts_render/1.png"><img src="parts_render/1.png" width="100px" height="100px"/></a></td></tr><tr><td><p>9 body Body</p><a href="parts_render/9.png"><img src="parts_render/9.png" width="100px" height="100px"/></a></td><td></td><td><p>10 neck Neck</p><a href="parts_render/10.png"><img src="parts_render/10.png" width="100px" height="100px"/></a></td><td></td><td><p>11 lid Lid</p><a href="parts_render/11.png"><img src="parts_render/11.png" width="100px" height="100px"/></a></td><td></td><td><p>12 other flyer (other)</p><a href="parts_render/12.png"><img src="parts_render/12.png" width="100px" height="100px"/></a></td></tr><tr><td></td><td></td><td></td><td></td><td></td><td></td><td><p>13 other_leaf other_leaf</p><a href="parts_render/13.png"><img src="parts_render/13.png" width="100px" height="100px"/></a></td></tr></table></body></html>
\ No newline at end of file
diff --git a/objects/laptop/10125/parts_render/0.png b/objects/laptop/10125/parts_render/0.png
new file mode 100644
index 0000000000000000000000000000000000000000..216af3ccd9426eff1c8788f84955777e884ad78c
--- /dev/null
+++ b/objects/laptop/10125/parts_render/0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d709c8ea888ceb3e4d08ad2b39abb643bb0f4c37a552b577d97bee20042179
+size 31008
diff --git a/objects/laptop/10125/parts_render/10.png b/objects/laptop/10125/parts_render/10.png
new file mode 100644
index 0000000000000000000000000000000000000000..3ff88c432de0aa8852e3d252fbc4094a30c92051
--- /dev/null
+++ b/objects/laptop/10125/parts_render/10.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93f4c891a1ff48ac81899bec6a2064af35a0e22e692b7881eb70fb9a03e7b50d
+size 28826
diff --git a/objects/laptop/10125/parts_render/15.png b/objects/laptop/10125/parts_render/15.png
new file mode 100644
index 0000000000000000000000000000000000000000..a11895a7131c881e59f5ae4ae3ca7ec7a1501013
--- /dev/null
+++ b/objects/laptop/10125/parts_render/15.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46c954e100a3653ef45ec3bc07856cff3bf3092f4cacb7c4b9d63ddcf2597c49
+size 22159
diff --git a/objects/laptop/10125/parts_render/2.png b/objects/laptop/10125/parts_render/2.png
new file mode 100644
index 0000000000000000000000000000000000000000..b1fc3990262fd6e46d09fb95f8ad6652d4d36cd3
--- /dev/null
+++ b/objects/laptop/10125/parts_render/2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9562908ea8049ce325fdbc102519b2282b185d6f0151bef3731776e8186e34
+size 27250
diff --git a/objects/laptop/10125/parts_render_after_merging/4.png b/objects/laptop/10125/parts_render_after_merging/4.png
new file mode 100644
index 0000000000000000000000000000000000000000..a74ccc767a2ae9f7c0f48970009900d430afeb89
--- /dev/null
+++ b/objects/laptop/10125/parts_render_after_merging/4.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:303b59feda934f898c720bf58f94263153c2d474583ea1b972bd80e794b1de85
+size 28075
diff --git a/objects/laptop/9912/9912/parts_render_after_merging/0.txt b/objects/laptop/9912/9912/parts_render_after_merging/0.txt
new file mode 100644
index 0000000000000000000000000000000000000000..362872743574286fcf512be18bc3c875520dee73
--- /dev/null
+++ b/objects/laptop/9912/9912/parts_render_after_merging/0.txt
@@ -0,0 +1 @@
+0 laptop laptop
\ No newline at end of file
diff --git a/objects/test_box/gift-box-003.mtl b/objects/test_box/gift-box-003.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..8d718180a35adb8cd8fb8faee2b04146ee293cc0
--- /dev/null
+++ b/objects/test_box/gift-box-003.mtl
@@ -0,0 +1,12 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl Default.001
+Ns 225.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.117104 0.058302 0.063973
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 2
diff --git a/objects/test_box/model_data.json b/objects/test_box/model_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6350db329ebced370e8417373da663fc3fd2f98
--- /dev/null
+++ b/objects/test_box/model_data.json
@@ -0,0 +1,383 @@
+{
+    "center": [
+        0.0,
+        0.0,
+        -8.272566645242666e-19
+    ],
+    "extents": [
+        0.08308200000000003,
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+    "scale": [
+        1.2,
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+    "target_pose": [
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+            [
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+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                1.0,
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+                0.0,
+                0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                -0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                -0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                -0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                -0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                -0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                -0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                -0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                -1.0,
+                0.0,
+                1.2246467991473532e-16,
+                -0.06
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                -1.2246467991473532e-16,
+                0.0,
+                -1.0,
+                0.06
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                -1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                1.0,
+                0.0,
+                6.123233995736766e-17,
+                -0.11
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                0.0,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.0
+            ],
+            [
+                -1.0,
+                0.0,
+                6.123233995736766e-17,
+                0.11
+            ],
+            [
+                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": [],
+    "orientation_point": [],
+    "contact_points_group": [
+        [
+            0,
+            1
+        ],
+        [
+            2,
+            3
+        ],
+        [
+            4,
+            5
+        ],
+        [
+            6,
+            7
+        ],
+        [
+            8
+        ],
+        [
+            9
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "",
+        "",
+        "",
+        "",
+        "",
+        "",
+        "",
+        "",
+        "",
+        ""
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}
\ No newline at end of file
diff --git a/objects/test_box/models.py b/objects/test_box/models.py
new file mode 100644
index 0000000000000000000000000000000000000000..efc9d153bb08a65b0788d95f3008301b41085a99
--- /dev/null
+++ b/objects/test_box/models.py
@@ -0,0 +1,131 @@
+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"
+    file_path = f"./textured{id}.obj"
+    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='obj')
+    # 创建一个场景
+    scene = trimesh.Scene(mesh)
+
+    oriented_bounding_box = mesh.bounding_box_oriented
+
+    scale = [1.2,1.2,1.7]
+
+    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=0.3, axis_radius=0.005, origin_size=0.01)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+    # left front
+    add_contact_point(0.01, [0.06, 0, -0.06], [0, 0, 0], "")
+    add_contact_point(0.01, [0.06, 0, -0.06], [0, PI, 0], "")
+    # left back
+    add_contact_point(0.01, [-0.06, 0, -0.06], [0, 0, 0], "")
+    add_contact_point(0.01, [-0.06, 0, -0.06], [0, PI, 0], "")
+    # right front
+    add_contact_point(0.01, [0.06, 0, 0.06], [0, 0, 0], "")
+    add_contact_point(0.01, [0.06, 0, 0.06], [0, PI, 0], "")
+    # right back
+    add_contact_point(0.01, [-0.06, 0, 0.06], [0, 0, 0], "")
+    add_contact_point(0.01, [-0.06, 0, 0.06], [0, PI, 0], "")
+    # left
+    add_contact_point(0.01, [0, 0, -0.11], [0, -PI/2, 0], "")
+    # right
+    add_contact_point(0.01, [0, 0, 0.11], [0, PI/2, 0], "")
+    # add_contact_point(0.01, [0, 0, 0], [0, PI/2, 0], "")
+    # add_contact_point(0.01, [0, 0, 0], [0, PI, 0], "")
+    # add_contact_point(0.01, [0, 0, 0], [0, -PI/2, 0], "")
+
+    
+    # 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=0.1)
+    axis1.apply_transform(transform_matrix)
+
+    # functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    # functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ trimesh.transformations.euler_matrix(0,0,0)
+    # 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': [[0,1],[2,3],[4,5],[6,7],[8],[9]],  # 抓取点分组
+        '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)
\ No newline at end of file
diff --git a/objects/test_box/textured.obj b/objects/test_box/textured.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f7c6dfa929ece6dcc4101164d16f5b7e2b10b7ca
--- /dev/null
+++ b/objects/test_box/textured.obj
@@ -0,0 +1,23357 @@
+# Blender v3.0.1 OBJ File: ''
+# www.blender.org
+mtllib gift-box-003.mtl
+g paper-close.001
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