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.gitattributes

@@ -57,3 +57,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+objects/badminton_annotated/badminton.glb filter=lfs diff=lfs merge=lfs -text
+objects/barrel_annotated/barrel.glb filter=lfs diff=lfs merge=lfs -text
+objects/card_annotated/card.glb filter=lfs diff=lfs merge=lfs -text
+objects/pokeball_annotated/pokeball.glb filter=lfs diff=lfs merge=lfs -text
+objects/terminal_annotated/terminal.glb filter=lfs diff=lfs merge=lfs -text
+objects/vase_annotated/vase.glb filter=lfs diff=lfs merge=lfs -text
+scenes/table/table.glb filter=lfs diff=lfs merge=lfs -text

README.md

@@ -1,3 +1,7 @@
----
-license: mit
----
+---
+license: mit
+---
+# RoboMonsterAssets Dataset Card
+
+![RoboMonster](./images/RoboMonster.png)
+This repository contains basic assets for RoboMonster, also can be used in [RoboFactory](https://arxiv.org/pdf/2503.16408).

objects/badminton_annotated/badminton.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:61d9b08f3d4d266cc75894241c5bf72a10b9e4c1d09fe2d00cd944106dd3fe23
+size 29643428

objects/badminton_annotated/model_data.json

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+{
+    "center": [
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+        0.008940475031173898
+    ],
+    "extents": [
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+        0.12652459843631073,
+        0.1200626571787099
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+    "scale": [
+        1.0,
+        1.0,
+        1.0
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+    "target_pose": [
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+            [
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+    "contact_points_pose": [
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+    "transform_matrix": [
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+        [
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+            0.0,
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+    ],
+    "functional_matrix": [],
+    "orientation_point": [
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+            0.0,
+            0.04388070051143324
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+            1.0
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+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Single contact at world origin (editable at top)."
+    ],
+    "target_point_discription": [
+        "Object centroid."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "OBB +Y reference."
+    ]
+}

objects/badminton_annotated/models.py

@@ -0,0 +1,105 @@
+# model_card_scaled.py
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# === 你可以调这些参数（contact在世界坐标系） ===
+MODEL_SCALE             = 1.0        # 几何整体缩放
+MARKER_FRAC             = 0.02       # 标注物相对尺寸(基于OBB对角线)
+CONTACT_POS             = (0.0, 0.09, 0.035)        # contact 世界坐标位置 —— 默认原点
+CONTACT_RPY             = (0.0, 0.0, 0.0)        # contact 欧拉角(XYZ顺序), 单位: 弧度
+CONTACT_RADIUS_SCALE    = 1.0        # contact 球半径系数(相对于默认 r = diag*MARKER_FRAC*1.0)
+AXIS_ORIGIN_SIZE_SCALE  = 1.0        # contact处坐标轴的“轴心球”尺寸缩放
+
+def create_model_data(id="badminton"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并烘焙为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
+
+    # 2) 缩放
+    mesh.apply_scale(MODEL_SCALE)
+    scene = trimesh.Scene(mesh)
+
+    # 3) 尺寸 & 标注尺度
+    obb = mesh.bounding_box_oriented
+    center = np.asarray(obb.centroid)
+    ext = np.asarray(obb.extents)
+    diag = float(np.linalg.norm(ext)) + 1e-12
+
+    axis_len   = diag * MARKER_FRAC * 6.0
+    origin_sz  = diag * MARKER_FRAC * 0.6
+    r_target   = diag * MARKER_FRAC * 1.2
+    r_contact  = diag * MARKER_FRAC * 1.0 * float(CONTACT_RADIUS_SCALE)
+
+    red   = [1.0, 0.0, 0.0, 0.5]
+    green = [0.0, 1.0, 0.0, 0.5]
+
+    # 4) Target point：OBB 质心
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
+    T_target = trimesh.transformations.translation_matrix(center)
+    target_sphere.apply_transform(T_target)
+    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
+    scene.add_geometry(target_sphere)
+    target_points_list = [T_target.tolist()]
+
+    # 5) 仅一个 contact：固定在世界坐标 CONTACT_POS（默认原点）
+    contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_contact)
+    T_contact = (
+        trimesh.transformations.translation_matrix(np.asarray(CONTACT_POS)) @
+        trimesh.transformations.euler_matrix(*CONTACT_RPY)
+    )
+    contact_sphere.apply_transform(T_contact)
+    contact_sphere.visual.vertex_colors = np.array([red] * len(contact_sphere.vertices))
+    # 可视化局部坐标轴
+    axis = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
+    axis.apply_transform(T_contact)
+    scene.add_geometry(axis)
+    scene.add_geometry(contact_sphere)
+
+    contact_points_list = [T_contact.tolist()]
+    contact_desc = ["Single contact at world origin (editable at top)."]
+
+    # 6) Orientation 参考点（仍放 OBB +Y 顶端，便于对齐/校验）
+    #    如不需要，注释掉这段亦可
+    # 从 OBB primitive 拿旋转矩阵 R_obb（若不可用则回退单位阵）
+    if hasattr(obb, "primitive") and hasattr(obb.primitive, "transform"):
+        R_obb = np.asarray(obb.primitive.transform)[:3, :3]
+    else:
+        R_obb = np.eye(3)
+    orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
+    T_orient = trimesh.transformations.translation_matrix(center + R_obb[:, 1] * (ext[1] / 2.0))
+    orient.apply_transform(T_orient)
+    orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
+    scene.add_geometry(orient)
+
+    # 7) 写 JSON
+    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
+        "target_pose": target_points_list,
+        "contact_points_pose": contact_points_list,          # 只有1个
+        "transform_matrix": transform_matrix,
+        "functional_matrix": [],
+        "orientation_point": T_orient.tolist(),
+        "contact_points_group": [[0]],                       # 单组：仅索引0
+        "contact_points_mask": [True],                       # 单个有效
+        "contact_points_discription": contact_desc,
+        "target_point_discription": ["Object centroid."],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["OBB +Y reference."]
+    }
+    with open(save_path, "w") as f:
+        json.dump(data, f, indent=4, separators=(",", ": "))
+
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("badminton")

objects/barrel_annotated/barrel.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:87e1b0d099bdb111d5739a0bf227abbe8a5a3989d46189ea7f1e21d91a771ca6
+size 7928680

objects/barrel_annotated/model_data.json

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+{
+    "center": [
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+        -0.14811597562402742
+    ],
+    "extents": [
+        0.133843028759591,
+        0.13199282088810027,
+        0.530750415103979
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+    "scale": [
+        1.0,
+        1.0,
+        1.0
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+    "target_pose": [
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+                6.123233995736766e-17,
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+                0.0
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+    ],
+    "contact_points_pose": [
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+                -1.0,
+                -0.035
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+    "transform_matrix": [
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+    ],
+    "functional_matrix": [],
+    "orientation_point": [
+        [
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+            0.0,
+            0.0,
+            -0.0533792786507395
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+        [
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+            1.0
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+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Single contact at CONTACT_POS."
+    ],
+    "target_point_discription": [
+        "User-defined target at TARGET_POS."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "OBB +Y reference."
+    ]
+}

objects/barrel_annotated/models.py

@@ -0,0 +1,113 @@
+# model_card_scaled.py
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# === 可调参数 ===
+MODEL_SCALE              = 1.0        # 几何整体缩放
+MARKER_FRAC              = 0.02       # 标注物相对尺寸(基于 OBB 对角线)
+
+CONTACT_POS               = (-0.035, 0.045, -0.5)   # 目标点位置
+CONTACT_RPY               = (-PI/2, 0.0, PI/2)      # 目标点姿态 (XYZ/弧度)
+CONTACT_RADIUS_SCALE      = 1.2                  # 目标标记球半径系数
+
+TARGET_POS              = (0., 0.045, -0.45)      # 抓取/吸附点位置
+TARGET_RPY              = (-PI/2, 0.0, -PI/2)      # 抓取点姿态 (XYZ/弧度)
+TARGET_RADIUS_SCALE     = 1.0                  # 抓取标记球半径系数
+
+
+# 可视化小坐标轴大小（两者共用）
+AXIS_ORIGIN_SIZE_SCALE   = 1.0
+
+def create_model_data(id="barrel"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并烘焙为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
+
+    # 2) 缩放
+    mesh.apply_scale(MODEL_SCALE)
+    scene = trimesh.Scene(mesh)
+
+    # 3) 尺寸 & 标注尺度
+    obb = mesh.bounding_box_oriented
+    center = np.asarray(obb.centroid)
+    ext = np.asarray(obb.extents)
+    diag = float(np.linalg.norm(ext)) + 1e-12
+
+    origin_sz  = diag * MARKER_FRAC * 0.6
+    r_target   = diag * MARKER_FRAC * float(TARGET_RADIUS_SCALE)
+    r_contact  = diag * MARKER_FRAC * float(CONTACT_RADIUS_SCALE)
+
+    red   = [1.0, 0.0, 0.0, 0.5]
+    green = [0.0, 1.0, 0.0, 0.5]
+
+    # 4) target 点
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
+    T_target = (
+        trimesh.transformations.translation_matrix(np.asarray(TARGET_POS)) @
+        trimesh.transformations.euler_matrix(*TARGET_RPY)
+    )
+    target_sphere.apply_transform(T_target)
+    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
+    axis_t = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
+    axis_t.apply_transform(T_target)
+    scene.add_geometry(axis_t)
+    scene.add_geometry(target_sphere)
+    target_points_list = [T_target.tolist()]
+
+    # 5) contact 点（新增）
+    contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_contact)
+    T_contact = (
+        trimesh.transformations.translation_matrix(np.asarray(CONTACT_POS)) @
+        trimesh.transformations.euler_matrix(*CONTACT_RPY)
+    )
+    contact_sphere.apply_transform(T_contact)
+    contact_sphere.visual.vertex_colors = np.array([red] * len(contact_sphere.vertices))
+    axis_c = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
+    axis_c.apply_transform(T_contact)
+    scene.add_geometry(axis_c)
+    scene.add_geometry(contact_sphere)
+    contact_points_list = [T_contact.tolist()]
+
+    # 6) Orientation 参考点（OBB +Y 顶端）
+    if hasattr(obb, "primitive") and hasattr(obb.primitive, "transform"):
+        R_obb = np.asarray(obb.primitive.transform)[:3, :3]
+    else:
+        R_obb = np.eye(3)
+    orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
+    T_orient = trimesh.transformations.translation_matrix(center + R_obb[:, 1] * (ext[1] / 2.0))
+    orient.apply_transform(T_orient)
+    orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
+    scene.add_geometry(orient)
+
+    # 7) 写 JSON
+    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
+        "target_pose": target_points_list,               # 一个 target
+        "contact_points_pose": contact_points_list,      # 一个 contact
+        "transform_matrix": transform_matrix,
+        "functional_matrix": [],
+        "orientation_point": T_orient.tolist(),
+        "contact_points_group": [[0]],                   # 单组：仅索引0
+        "contact_points_mask": [True],
+        "contact_points_discription": ["Single contact at CONTACT_POS."],
+        "target_point_discription": ["User-defined target at TARGET_POS."],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["OBB +Y reference."]
+    }
+    with open(save_path, "w") as f:
+        json.dump(data, f, indent=4, separators=(",", ": "))
+
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("barrel")

objects/card_annotated/card.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:750bd1e7956c6ac6ccbde79721b0b5dcc08142c3ccd5e4d050bdaa6aacd4d91b
+size 15320752

objects/card_annotated/model_data.json

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+    "scale": [
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+    "transform_matrix": [
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+    "functional_matrix": [],
+    "orientation_point": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.00017353899152178697
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0,
+            1
+        ]
+    ],
+    "contact_points_mask": [
+        true,
+        true
+    ],
+    "contact_points_discription": [
+        "Suction point of the upper right corner to the midpoint by half",
+        "Grasp on midpoint of the bottom edge",
+        "Grasp on midpoint of the bottom edge"
+    ],
+    "target_point_discription": [
+        "Object centroid."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "OBB +Y reference."
+    ]
+}

objects/card_annotated/models.py

@@ -0,0 +1,110 @@
+# model_card_scaled.py
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# === 你可以只调这两个参数 ===
+MODEL_SCALE  = 1    # 让卡变大（几何整体缩放倍数）
+MARKER_FRAC  = 0.02    # 标注物尺寸占物体对角线的比例（越小→球和坐标轴越小）
+
+def create_model_data(id="card"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并烘焙为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
+
+    # 2) 放大卡（整体缩放）
+    mesh.apply_scale(MODEL_SCALE)  # <— 放大卡，trimesh 内置缩放方法
+    scene = trimesh.Scene(mesh)
+
+    # 3) 根据放大后的尺寸自适应计算标注尺寸
+    obb = mesh.bounding_box_oriented
+    center = obb.centroid
+    ext = obb.extents
+    diag = float(np.linalg.norm(ext)) + 1e-12
+
+    # 标注的统一尺度（你也可分别给不同大小）
+    axis_len   = diag * MARKER_FRAC * 6.0    # 坐标轴长度
+    origin_sz  = diag * MARKER_FRAC * 0.6    # 轴心小球尺寸
+    r_target   = diag * MARKER_FRAC * 1.2    # 目标点球半径
+    r_contact0 = diag * MARKER_FRAC * 1.0    # 抓取点球半径（1）
+    r_contact1 = diag * MARKER_FRAC * 1.0    # 抓取点球半径（2）
+
+    red   = [1.0, 0.0, 0.0, 0.5]
+    green = [0.0, 1.0, 0.0, 0.5]
+    blue  = [0.0, 0.0, 1.0, 0.5]
+
+    # 4) Target point：取 OBB 质心
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
+    T_target = trimesh.transformations.translation_matrix(center)
+    target_sphere.apply_transform(T_target)
+    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
+    scene.add_geometry(target_sphere)
+    target_points_list = [T_target.tolist()]
+
+    # 5) 随便放两个 contact（先粗标，后续你再调）
+    contact_points_list, contact_desc = [], []
+
+    def add_contact(radius, pos, euler_xyz, desc):
+        sph = trimesh.creation.icosphere(subdivisions=2, radius=radius)
+        T = trimesh.transformations.translation_matrix(pos) @ \
+            trimesh.transformations.euler_matrix(*euler_xyz)
+        sph.apply_transform(T)
+        sph.visual.vertex_colors = np.array([red] * len(sph.vertices))
+        # 坐标轴（更小）
+        axis = trimesh.creation.axis(origin_size=origin_sz)  # 指定轴心球大小
+        # 默认 axis_length 会随 origin_size 缩放；如要强行指定：axis = trimesh.creation.axis(origin_size=origin_sz); axis.apply_scale(axis_len / (origin_sz*10))
+        axis.apply_transform(T)
+        scene.add_geometry(axis)
+        scene.add_geometry(sph)
+        contact_points_list.append(T.tolist())
+        contact_desc.append(desc)
+
+    ex, ey, ez = ext
+    print(ext)
+    print(center)
+    c = center
+    add_contact(r_contact0, [c[0] + 0.25 * ex, c[1], c[2] - 0.25 * ez], [0, -PI, 0], "Suction point of the upper right corner to the midpoint by half")
+    add_contact(r_contact1, [c[0], c[1], c[2] + 0.25 * ez], [-PI/2, -PI, 0], "Grasp on midpoint of the bottom edge")
+    add_contact(r_contact1, [c[0], c[1], c[2] - 0.25 * ez], [PI/2, PI, 0], "Grasp on midpoint of the bottom edge")
+    # 6) Orientation 参考点（小绿球）
+    orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
+    T_orient = trimesh.transformations.translation_matrix([c[0], c[1] + ey/2.0, c[2]])
+    orient.apply_transform(T_orient)
+    orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
+    scene.add_geometry(orient)
+
+    # 7) 世界坐标轴（可选，按比例更小）
+    # world_axis = trimesh.creation.axis(origin_size=origin_sz)
+    # scene.add_geometry(world_axis)
+
+    # 8) 写 JSON（把 scale 也写成 [MODEL_SCALE]*3，与你的 motionplanner 用法保持一致）
+    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],   # <— 与几何缩放一致
+        "target_pose": target_points_list,
+        "contact_points_pose": contact_points_list,
+        "transform_matrix": transform_matrix,
+        "functional_matrix": [],
+        "orientation_point": T_orient.tolist(),
+        "contact_points_group": [[0, 1]],
+        "contact_points_mask": [True, True],
+        "contact_points_discription": contact_desc,
+        "target_point_discription": ["Object centroid."],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["OBB +Y reference."]
+    }
+    with open(save_path, "w") as f:
+        json.dump(data, f, indent=4, separators=(",", ": "))
+
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("card")

objects/pokeball_annotated/model_data.json

@@ -0,0 +1,146 @@
+{
+    "center": [
+        0.02495441054302816,
+        0.04039958576682315,
+        1.608605873181978e-05
+    ],
+    "extents": [
+        0.11410288889507963,
+        0.08259069446084513,
+        0.11193267813583267
+    ],
+    "scale": [
+        0.04,
+        0.04,
+        0.04
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.02495441054302816
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.04039958576682315
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                1.608605873181978e-05
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.02495441054302816
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                0.04039958576682315
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                1.608605873181978e-05
+            ],
+            [
+                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": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.05335633953734738
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.041464989916579646
+        ],
+        [
+            0.0,
+            0.0,
+            1.0,
+            0.029974407878895572
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [
+        [
+            0
+        ]
+    ],
+    "contact_points_mask": [
+        true
+    ],
+    "contact_points_discription": [
+        "Single contact at OBB centroid (+ offset)."
+    ],
+    "target_point_discription": [
+        "Object centroid."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "OBB +Y reference."
+    ]
+}

objects/pokeball_annotated/models.py

@@ -0,0 +1,104 @@
+# model_pokeball_scaled.py
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# === 你可以调这些参数（contact默认放在物体OBB质心，可加偏移） ===
+MODEL_SCALE             = 0.04       # 几何整体缩放
+MARKER_FRAC             = 0.1       # 标注物相对尺寸(基于OBB对角线)
+CONTACT_POS             = (0.0, 0.0, 0.0)        # contact 相对OBB质心的偏移(世界系)
+CONTACT_RPY             = (0.0, 0.0, 0.0)        # contact 欧拉角(XYZ顺序), 单位: 弧度
+CONTACT_RADIUS_SCALE    = 1.0        # contact 球半径系数(相对于默认 r = diag*MARKER_FRAC*1.0)
+AXIS_ORIGIN_SIZE_SCALE  = 1.0        # contact处坐标轴的“轴心球”尺寸缩放
+
+def create_model_data(id="pokeball"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并烘焙为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
+
+    # 2) 缩放
+    mesh.apply_scale(MODEL_SCALE)
+    scene = trimesh.Scene(mesh)
+
+    # 3) 尺寸 & 标注尺度
+    obb = mesh.bounding_box_oriented
+    center = np.asarray(obb.centroid)
+    ext = np.asarray(obb.extents)
+    diag = float(np.linalg.norm(ext)) + 1e-12
+
+    axis_len   = diag * MARKER_FRAC * 6.0
+    origin_sz  = diag * MARKER_FRAC * 0.6
+    r_target   = diag * MARKER_FRAC * 1.2
+    r_contact  = diag * MARKER_FRAC * 1.0 * float(CONTACT_RADIUS_SCALE)
+
+    red   = [1.0, 0.0, 0.0, 0.5]
+    green = [0.0, 1.0, 0.0, 0.5]
+
+    # 4) Target point：OBB 质心
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
+    T_target = trimesh.transformations.translation_matrix(center)
+    target_sphere.apply_transform(T_target)
+    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
+    scene.add_geometry(target_sphere)
+    target_points_list = [T_target.tolist()]
+
+    # 5) contact：默认放在球中心(OBB质心)，可用CONTACT_POS作小偏移
+    contact_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_contact)
+    contact_world_pos = center + np.asarray(CONTACT_POS, dtype=float)
+    T_contact = (
+        trimesh.transformations.translation_matrix(contact_world_pos) @
+        trimesh.transformations.euler_matrix(*CONTACT_RPY)
+    )
+    contact_sphere.apply_transform(T_contact)
+    contact_sphere.visual.vertex_colors = np.array([red] * len(contact_sphere.vertices))
+    # 可视化局部坐标轴
+    axis = trimesh.creation.axis(origin_size=origin_sz * float(AXIS_ORIGIN_SIZE_SCALE))
+    axis.apply_transform(T_contact)
+    scene.add_geometry(axis)
+    scene.add_geometry(contact_sphere)
+
+    contact_points_list = [T_contact.tolist()]
+    contact_desc = ["Single contact at OBB centroid (+ offset)."]
+
+    # 6) Orientation 参考点（仍放 OBB +Y 顶端）
+    if hasattr(obb, "primitive") and hasattr(obb.primitive, "transform"):
+        R_obb = np.asarray(obb.primitive.transform)[:3, :3]
+    else:
+        R_obb = np.eye(3)
+    orient = trimesh.creation.icosphere(subdivisions=2, radius=origin_sz)
+    T_orient = trimesh.transformations.translation_matrix(center + R_obb[:, 1] * (ext[1] / 2.0))
+    orient.apply_transform(T_orient)
+    orient.visual.vertex_colors = np.array([green] * len(orient.vertices))
+    scene.add_geometry(orient)
+
+    # 7) 写 JSON
+    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
+        "target_pose": target_points_list,
+        "contact_points_pose": contact_points_list,
+        "transform_matrix": transform_matrix,
+        "functional_matrix": [],
+        "orientation_point": T_orient.tolist(),
+        "contact_points_group": [[0]],
+        "contact_points_mask": [True],
+        "contact_points_discription": contact_desc,
+        "target_point_discription": ["Object centroid."],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["OBB +Y reference."]
+    }
+    with open(save_path, "w") as f:
+        json.dump(data, f, indent=4, separators=(",", ": "))
+
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("pokeball")

objects/pokeball_annotated/pokeball.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d61cb06b2246b194afe28bf2c8b496cc0b9db45b49da4e5fd87e84e1b12d5437
+size 1190088

objects/terminal_annotated/model_data.json

@@ -0,0 +1,111 @@
+{
+    "center": [
+        1.873558015222015e-05,
+        0.013033718940315799,
+        0.0002804949212231114
+    ],
+    "extents": [
+        0.10652180400216095,
+        0.1324749116214104,
+        0.2671022324721998
+    ],
+    "scale": [
+        1.0,
+        1.0,
+        1.0
+    ],
+    "target_pose": [
+        [
+            [
+                0.9999999677295611,
+                1.9492489748571025e-05,
+                0.0002533000586885312,
+                3.3830883349644526e-06
+            ],
+            [
+                4.686187494245504e-05,
+                0.965789604421175,
+                -0.2593268936997374,
+                0.09404479607843289
+            ],
+            [
+                -0.00024968949029762795,
+                0.2593268972012604,
+                0.965789572341266,
+                -0.04600163069907902
+            ],
+            [
+                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": [],
+    "orientation_point": [
+        [
+            0.9999999677295611,
+            1.9492489748571025e-05,
+            0.0002533000586885312,
+            3.3830883349644526e-06
+        ],
+        [
+            4.686187494245504e-05,
+            0.965789604421175,
+            -0.2593268936997374,
+            0.09404479607843289
+        ],
+        [
+            -0.00024968949029762795,
+            0.2593268972012604,
+            0.965789572341266,
+            -0.04600163069907902
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "contact_points_discription": [],
+    "target_point_discription": [
+        "OBB +Z face center → local -Z offset → local Z rot → local +Y offset."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "Same as target for schema compatibility."
+    ]
+}

objects/terminal_annotated/models.py

@@ -0,0 +1,122 @@
+# models_terminal.py
+# 目标：读取 ./terminal.glb → 以 OBB 对齐 target pose，位置在 OBB +Z 面中心；
+#      然后沿“target pose 的局部 -Z”偏移，再“绕其局部 Z 轴”旋转（可正可负）；
+#      最后“在此基础上”沿“target pose 的局部 +Y 轴”再平移一点；
+#      输出 ./model_data.json，并在预览中画出加长坐标轴与小球。
+
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# === 可调参数 ===
+MODEL_SCALE   = 1.0      # 几何整体缩放倍数
+MARKER_FRAC   = 0.02     # 标注物相对物体对角线比例（越小→球/坐标轴更小）
+OFFSET_FRAC_Z = 0.746    # 沿局部 -Z 平移 extents[2] * 此比例
+ROT_Z_DEG     = -90.0    # 随后绕局部 Z 轴旋转（度）
+OFFSET_FRAC_Y = 0.5     # 【新增】在此基础上，沿“局部 +Y”再平移 extents[1] * 此比例
+
+def _to_fused_mesh(obj):
+    if isinstance(obj, trimesh.Trimesh):
+        return obj
+    if isinstance(obj, trimesh.Scene):
+        try:
+            return obj.to_mesh()
+        except Exception:
+            geoms = list(obj.dump().geometry.values())
+            return trimesh.util.concatenate(geoms)
+    raise TypeError(f"Unsupported type: {type(obj)}")
+
+def create_model_data(id="terminal"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并融合为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = _to_fused_mesh(loaded)
+
+    # 2) 全局缩放
+    mesh.apply_scale(MODEL_SCALE)
+    scene = trimesh.Scene(mesh)
+
+    # 3) OBB 与自适应标注尺寸
+    obb = mesh.bounding_box_oriented
+    center = obb.centroid                # 世界系下 OBB 质心
+    ext = obb.extents                    # [ex, ey, ez]
+    diag = float(np.linalg.norm(ext)) + 1e-12
+
+    axis_len  = diag * MARKER_FRAC * 12.0   # 加长坐标轴
+    origin_sz = diag * MARKER_FRAC * 0.6
+    r_target  = diag * MARKER_FRAC * 1.2
+
+    red   = [1.0, 0.0, 0.0, 0.5]
+    green = [0.0, 1.0, 0.0, 0.5]
+    blue  = [0.0, 0.0, 1.0, 0.5]
+
+    # 4) 以 OBB 对齐的“初始 target pose”（在 OBB 的 +Z 面中心）
+    T_obb = obb.primitive.transform      # 4x4
+    R_obb = T_obb[:3, :3]
+    top_center = center + R_obb[:, 2] * (ext[2] / 2.0)
+
+    T_target = np.eye(4, dtype=float)
+    T_target[:3, :3] = R_obb
+    T_target[:3, 3]  = top_center
+
+    # 5) 局部链：先沿 -Z 偏移，再绕 Z 旋转，再沿 +Y 偏移（均在“局部系”）
+    offset_dist_z = ext[2] * OFFSET_FRAC_Z
+    T_offset_z = trimesh.transformations.translation_matrix([0.0, 0.0, -offset_dist_z])
+    Rz_local   = trimesh.transformations.rotation_matrix(np.deg2rad(ROT_Z_DEG), [0.0, 0.0, 1.0])
+    offset_dist_y = ext[1] * OFFSET_FRAC_Y            # 【新增】沿局部 +Y 的距离
+    T_offset_y = trimesh.transformations.translation_matrix([0.0, offset_dist_y, 0.0])
+
+    # 组合顺序采用右乘：表示“在当前局部坐标系下”依次执行
+    T_final = T_target @ T_offset_z @ Rz_local @ T_offset_y
+
+    # 6) 可视化：目标点小球 + 加长坐标轴（都放在 T_final 处）
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=r_target)
+    target_sphere.apply_transform(T_final)
+    target_sphere.visual.vertex_colors = np.array([red] * len(target_sphere.vertices))
+    scene.add_geometry(target_sphere)
+
+    axis = trimesh.creation.axis(
+        origin_size=origin_sz,
+        axis_length=axis_len,
+        axis_radius=origin_sz * 0.3,
+    )
+    axis.apply_transform(T_final)
+    scene.add_geometry(axis)
+
+    print("extents =", ext)
+    print("center  =", center)
+    print("target pose (before offset/rot) =\n", T_target)
+    print("final target pose (after z-offset, z-rot, y-offset) =\n", T_final)
+
+    # 7) 写 JSON（只保留 target 相关字段，其它保持 schema）
+    transform_matrix = trimesh.transformations.euler_matrix(0, 0, 0).tolist()
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": [MODEL_SCALE, MODEL_SCALE, MODEL_SCALE],
+        "target_pose": [T_final.tolist()],
+        "contact_points_pose": [],
+        "transform_matrix": transform_matrix,
+        "functional_matrix": [],
+        "orientation_point": T_final.tolist(),
+        "contact_points_group": [],
+        "contact_points_mask": [],
+        "contact_points_discription": [],
+        "target_point_discription": [
+            "OBB +Z face center → local -Z offset → local Z rot → local +Y offset."
+        ],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["Same as target for schema compatibility."]
+    }
+    with open(save_path, "w", encoding="utf-8") as f:
+        json.dump(data, f, indent=4, ensure_ascii=False, separators=(",", ": "))
+
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("terminal")

objects/terminal_annotated/terminal.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59b1ad1d08b0030ca162487a82bd5c11bf630a29e6951f5c8f7a4e5beadea8a2
+size 4712676

objects/vase_annotated/model_data.json

@@ -0,0 +1,110 @@
+{
+    "center": [
+        1.1124276707721084e-16,
+        0.07359927428680288,
+        -8.558756869537667e-09
+    ],
+    "extents": [
+        0.14719890510160538,
+        0.19665762109662338,
+        0.14719854857360673
+    ],
+    "scale": [
+        0.004,
+        0.004,
+        0.004
+    ],
+    "contact_points_pose": [
+        [
+            [
+                -1.0,
+                1.2246467991473532e-16,
+                1.4997597826618576e-32,
+                2.403561242065095e-16
+            ],
+            [
+                1.2246467991473532e-16,
+                1.0,
+                1.2246467991473532e-16,
+                0.14719854857360576
+            ],
+            [
+                0.0,
+                1.2246467991473532e-16,
+                -1.0,
+                -1.7117513744652586e-08
+            ],
+            [
+                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": [
+        [
+            -1.0,
+            1.2246467991473532e-16,
+            1.4997597826618576e-32,
+            2.403561242065095e-16
+        ],
+        [
+            1.2246467991473532e-16,
+            1.0,
+            1.2246467991473532e-16,
+            0.14719854857360576
+        ],
+        [
+            0.0,
+            1.2246467991473532e-16,
+            -1.0,
+            -1.7117513744652586e-08
+        ],
+        [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+        ]
+    ],
+    "contact_points_group": [],
+    "contact_points_mask": [],
+    "contact_points_discription": [],
+    "target_point_discription": [
+        "Grasp pose at the top edge center."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        "Grasp pose with adjustable offset and rotation."
+    ]
+}

objects/vase_annotated/models.py

@@ -0,0 +1,96 @@
+import trimesh
+import json
+import numpy as np
+
+PI = np.pi
+
+# 可以是标量（各向同性）或三元组（各向异性）
+# 例如：1.0  或  [0.08, 0.4, 0.08]
+MODEL_SCALE = 0.004
+
+GRASP_OFFSET = [0., 0., 0.]   # 相对“顶部中心”的偏移
+GRASP_ROT = [PI, 0.0, PI]             # 欧拉角 (rx, ry, rz), 弧度
+
+def _to_scale_vec(scale):
+    """将标量/数组统一成 3 维缩放向量 [sx, sy, sz]."""
+    arr = np.asarray(scale, dtype=float)
+    if arr.ndim == 0:
+        return [float(arr)] * 3
+    if arr.shape == (3,):
+        return arr.tolist()
+    raise ValueError(f"MODEL_SCALE 需为标量或长度为3的向量，收到形状: {arr.shape}")
+
+def create_model_data(id="vase"):
+    file_path = f"./{id}.glb"
+    save_path = f"./model_data.json"
+
+    # 1) 读模型并融合为单一 Trimesh
+    with open(file_path, "rb") as f:
+        loaded = trimesh.load(f, file_type="glb")
+    mesh = loaded.to_mesh() if isinstance(loaded, trimesh.Scene) else loaded
+
+    # 2) 应用缩放（标量或三元向量都可）
+    scale_vec = _to_scale_vec(MODEL_SCALE)
+    mesh.apply_scale(scale_vec)  # 支持 float 或 (3,) 向量
+
+    # 3) OBB 信息
+    obb = mesh.bounding_box_oriented
+    center = obb.centroid
+    ext = obb.extents
+    diag = np.linalg.norm(ext)
+
+    # 4) 计算“底部中心” -> 原点的平移
+    rotation_matrix = obb.transform[:3, :3]
+    bottom_center = center - rotation_matrix[:, 2] * (ext[2] / 2.0)
+    mesh.apply_translation(-bottom_center)
+
+    # 5) 更新 OBB
+    obb = mesh.bounding_box_oriented
+    center = obb.centroid
+    ext = obb.extents
+    rotation_matrix = obb.transform[:3, :3]
+
+    # 6) 顶部中心（现在模型底部已对齐原点，Z 轴正向为“上”）
+    top_center = center + rotation_matrix[:, 2] * (ext[2] / 2.0)
+
+    # 7) 组合抓取位姿：先平移到顶部中心 -> 旋转 -> 偏移
+    grasp_translation = trimesh.transformations.translation_matrix(top_center)
+    grasp_rotation = trimesh.transformations.euler_matrix(*GRASP_ROT)
+    grasp_offset = trimesh.transformations.translation_matrix(GRASP_OFFSET)
+    grasp_transform = grasp_translation @ grasp_rotation @ grasp_offset
+
+    # 8) 可视化
+    scene = trimesh.Scene(mesh)
+    grasp_sphere = trimesh.creation.icosphere(subdivisions=2, radius=diag * 0.05)
+    grasp_sphere.apply_transform(grasp_transform)
+    grasp_sphere.visual.vertex_colors = np.array([[1.0, 0.0, 0.0, 0.5]] * len(grasp_sphere.vertices))
+    scene.add_geometry(grasp_sphere)
+
+    grasp_axis = trimesh.creation.axis(origin_size=0.05, axis_length=diag * 0.2)
+    grasp_axis.apply_transform(grasp_transform)
+    scene.add_geometry(grasp_axis)
+
+    # 9) 保存 JSON（注意 scale 为三元向量）
+    data = {
+        "center": center.tolist(),
+        "extents": ext.tolist(),
+        "scale": scale_vec,  
+        "contact_points_pose": [grasp_transform.tolist()], 
+        "transform_matrix": trimesh.transformations.identity_matrix().tolist(),
+        "functional_matrix": [],
+        "orientation_point": grasp_transform.tolist(),
+        "contact_points_group": [],
+        "contact_points_mask": [],
+        "contact_points_discription": [],
+        "target_point_discription": ["Grasp pose at the top edge center."],
+        "functional_point_discription": [""],
+        "orientation_point_discription": ["Grasp pose with adjustable offset and rotation."]
+    }
+    with open(save_path, "w", encoding="utf-8") as f:
+        json.dump(data, f, indent=4, ensure_ascii=False, separators=(",", ": "))
+
+    # 10) 显示场景
+    scene.show()
+
+if __name__ == "__main__":
+    create_model_data("vase")

objects/vase_annotated/vase.glb

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+version https://git-lfs.github.com/spec/v1
+oid sha256:61d555a1a7b08993d89bda91da2f8c158cc1733d8fef111d3861b0222a3f90c2
+size 17631184

scenes/table/table.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0ebd8ad6438c1160f095d902bf55415f9d643f8c6990a186a052251fe7951a
+size 3891588