RoboTwin_image/models/001_bottles/model_data8.json

{
    "center": [
        -0.0012359189753235866,
        -0.00010079763000613879,
        0.0031315806162644554
    ],
    "extents": [
        0.9001925809632707,
        1.8380147322340645,
        0.904268808950659
    ],
    "scale": [
        0.1,
        0.1,
        0.1
    ],
    "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": [
        [
            [
                6.123233995736766e-17,
                -1.0,
                0.0,
                0.0
            ],
            [
                1.0,
                6.123233995736766e-17,
                0.0,
                -0.2
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                1.0,
                3.749399456654644e-33,
                -6.123233995736766e-17,
                -0.2
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                1.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                1.0,
                -6.123233995736766e-17,
                -7.498798913309288e-33,
                -0.2
            ],
            [
                0.0,
                1.2246467991473532e-16,
                -1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                1.0,
                3.749399456654644e-33,
                6.123233995736766e-17,
                -0.2
            ],
            [
                0.0,
                -1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                -0.7071067811865476,
                0.7071067811865475,
                0.0
            ],
            [
                1.0,
                4.329780281177467e-17,
                -4.329780281177466e-17,
                -0.2
            ],
            [
                0.0,
                0.7071067811865475,
                0.7071067811865476,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.7071067811865475,
                0.7071067811865476,
                0.0
            ],
            [
                1.0,
                -4.329780281177466e-17,
                -4.329780281177467e-17,
                -0.2
            ],
            [
                0.0,
                0.7071067811865476,
                -0.7071067811865475,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.7071067811865475,
                -0.7071067811865476,
                0.0
            ],
            [
                1.0,
                -4.329780281177466e-17,
                4.329780281177467e-17,
                -0.2
            ],
            [
                0.0,
                -0.7071067811865476,
                -0.7071067811865475,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                -0.7071067811865476,
                -0.7071067811865475,
                0.0
            ],
            [
                1.0,
                4.329780281177467e-17,
                4.329780281177466e-17,
                -0.2
            ],
            [
                0.0,
                -0.7071067811865475,
                0.7071067811865476,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "transform_matrix": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.0
        ],
        [
            -0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.9190073661170323
        ],
        [
            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."
    ]
}