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Datasets:
prlq
/
magic-asset

Tasks:
Robotics
Tags:
robotics
manipulation
simulation
3d-assets
isaac-sim
License:
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magic-asset / robotwin /objects /041_shoe /model_data8.json
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{
"center": [
9.214525403005911e-06,
0.383907076186758,
-0.0013151685761880905
],
"extents": [
0.6653761175234194,
0.7955842107136988,
1.9357270519787764
],
"scale": [
0.11,
0.11,
0.11
],
"target_pose": [
[
[
1.0,
0.0,
0.0,
0.0
],
[
0.0,
1.0,
0.0,
0.11206109019214744
],
[
0.0,
0.0,
1.0,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_pose": [
[
[
6.123233995736766e-17,
0.0,
-1.0,
0.0
],
[
0.0,
1.0,
0.0,
0.3735369673071581
],
[
1.0,
0.0,
6.123233995736766e-17,
0.0
],
[
0.0,
0.0,
0.0,
1.0
]
],
[
[
6.123233995736766e-17,
0.0,
1.0,
0.0
],
[
0.0,
1.0,
0.0,
0.3735369673071581
],
[
-1.0,
0.0,
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,
6.123233995736766e-17,
-1.0,
0.11206109019214744
],
[
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,
0.3735369673071581
],
[
0.0,
0.0,
1.0,
0.9488917147635773
],
[
0.0,
0.0,
0.0,
1.0
]
],
"contact_points_group": [
[
0,
1
]
],
"contact_points_mask": [
true
],
"contact_points_discription": [
"Grab the shoes from top to bottom",
"Grab the shoes from top to bottom"
],
"target_point_discription": [
"The center point on the bottom of the shoes."
],
"functional_point_discription": [
"Point0: The center point on the bottom of the shoes, and functional direction is the down side."
],
"orientation_point_discription": [
"The point is on the head of shoe."
],
"stable": true
}