Upload 1167 files

.gitattributes

@@ -58,3 +58,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
 scenes/table/table.glb filter=lfs diff=lfs merge=lfs -text
+objects/hammer_annotated/base.glb filter=lfs diff=lfs merge=lfs -text
+objects/single_shoe_annotated/base.glb filter=lfs diff=lfs merge=lfs -text

objects/camera_annotated/base.mtl

@@ -0,0 +1,16 @@
+# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
+# File Created: 29.04.2011 09:52:53
+
+newmtl 10124_SLR_Camera_V1
+	Ns 10.0000
+	Ni 1.5000
+	d 1.0000
+	Tr 0.0000
+	Tf 1.0000 1.0000 1.0000 
+	illum 2
+	Ka 0.5880 0.5880 0.5880
+	Kd 0.5880 0.5880 0.5880
+	Ks 0.0000 0.0000 0.0000
+	Ke 0.0000 0.0000 0.0000
+	map_Ka camera_diffuse.jpg
+	map_Kd camera_diffuse.jpg

objects/camera_annotated/model_data.json

@@ -0,0 +1,227 @@
+{
+    "center": [
+        1.4852396398396155e-07,
+        -4.694543494620984e-07,
+        0.3801412642964436
+    ],
+    "extents": [
+        1.0000020791712079,
+        0.7604108783138809,
+        0.760284606945514
+    ],
+    "scale": [
+        0.25,
+        0.25,
+        0.25
+    ],
+    "target_pose": [
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.1
+            ],
+            [
+                0.0,
+                1.0,
+                0.0,
+                -0.4
+            ],
+            [
+                0.0,
+                0.0,
+                1.0,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "contact_points_pose": [
+        [
+            [
+                -0.4999999999999998,
+                0.8660254037844387,
+                -5.3028761936245346e-17,
+                0.32
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                1.0,
+                0.17
+            ],
+            [
+                0.8660254037844387,
+                0.4999999999999998,
+                -3.061616997868382e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                0.5000000000000001,
+                -0.8660254037844386,
+                -5.302876193624534e-17,
+                -0.32
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                0.1
+            ],
+            [
+                0.8660254037844386,
+                0.5000000000000001,
+                3.0616169978683836e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                6.123233995736766e-17,
+                6.123233995736766e-17,
+                -1.0,
+                -0.4
+            ],
+            [
+                -1.0,
+                3.749399456654644e-33,
+                -6.123233995736766e-17,
+                -0.08
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.52
+            ],
+            [
+                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,
+                0.1
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                -1.0,
+                -0.4
+            ],
+            [
+                0.0,
+                1.0,
+                6.123233995736766e-17,
+                0.3
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "orientation_point": [
+        [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        [
+            0.0,
+            1.0,
+            0.0,
+            0.38020543915694044
+        ],
+        [
+            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": [
+        "Grasping the side of the camera.",
+        "Grasping the side of the camera.",
+        "Pointing the shutter."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/camera_annotated/models.py

@@ -0,0 +1,116 @@
+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
+    green_color = [0.0, 1.0, 0.0, 0.5]
+    blue_color = [0.0, 0.0, 1.0, 0.5]
+    scale = [0.25] * 3
+    shape = oriented_bounding_box.extents.tolist()
+    
+    print(shape)
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    target_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.1,-0.4,0.3])
+
+    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=2)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+
+    alpha = 0.95
+    delta = 0.05
+    
+    add_contact_point(0.1, [0.32, 0.17, 0.3], [-PI / 2, - 2 * PI / 3, 0], "Grasping the side of the camera.")
+    add_contact_point(0.1, [-0.32, 0.1, 0.3], [PI / 2, -PI / 3, 0], "Grasping the side of the camera.")
+    add_contact_point(0.05, [-0.4, -0.08, 0.52], [PI / 2, 0, - PI / 2], "Pointing the shutter.")
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    orientation_point.apply_transform(orientation_point_sphere)
+    orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0.1,-0.4,0.3]) @ 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)
+
+    data = {
+        'center': oriented_bounding_box.centroid.tolist(),  # 中心点
+        'extents': oriented_bounding_box.extents.tolist(),   # 尺寸
+        'scale': scale, 
+        'target_pose': target_points_list,              # 目标点矩阵
+        'contact_points_pose' : contact_points_list,    # 抓取点矩阵（多个）
+        'transform_matrix': transform_matrix,           # 模型到标轴的旋转矩阵
+        "functional_matrix": [functional_matrix],         # 功能点矩阵
+        'orientation_point': orientation_point_list,
+        'contact_points_group': [[0]],
+        'contact_points_mask': [True],
+        'contact_points_discription': contact_point_discription_list,    # 抓取点描述
+        'target_point_discription': ["The center of the object."],  # 目标点描述
+        'functional_point_discription': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/camera_annotated/normalize_proportionally.py

@@ -0,0 +1,49 @@
+import numpy as np
+
+def normalize_obj(input_file, output_file):
+    vertices = []
+    all_lines = []
+
+    # Read the OBJ file
+    with open(input_file, 'r') as file:
+        for line in file:
+            if line.startswith('v '):  # Vertex line
+                parts = line.split()
+                vertices.append([float(parts[1]), float(parts[2]), float(parts[3])])
+            all_lines.append(line)
+
+    # Convert vertices to a numpy array for processing
+    vertices = np.array(vertices)
+
+    # Compute min and max for each axis
+    min_vals = np.min(vertices, axis=0)
+    max_vals = np.max(vertices, axis=0)
+    ranges = max_vals - min_vals
+
+    # Find the largest range between x and y
+    largest_range_xy = max(ranges[0], ranges[1])
+
+    # Normalize x and y to [-0.5, 0.5] and scale by the largest range
+    vertices[:, 0] = (vertices[:, 0] - (min_vals[0] + max_vals[0]) / 2) / largest_range_xy
+    vertices[:, 1] = (vertices[:, 1] - (min_vals[1] + max_vals[1]) / 2) / largest_range_xy
+
+    # Scale z proportionally to the largest xy range and shift it to start from 0
+    vertices[:, 2] = (vertices[:, 2] - min_vals[2]) / largest_range_xy
+
+    # Write the modified OBJ file
+    with open(output_file, 'w') as file:
+        count = 0
+        for line in all_lines:
+            if line.startswith('v '):  # Replace vertex lines
+                vertex = vertices[count]
+                file.write(f"v {vertex[0]} {vertex[1]} {vertex[2]}\n")
+                count += 1
+            else:
+                file.write(line)
+
+# Specify input and output files
+input_file = 'old.obj'
+output_file = 'new.obj'
+
+# Normalize the OBJ file
+normalize_obj(input_file, output_file)

objects/hammer_annotated/base.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708bd0cda216706da740ccf2ab395e9a187526f282df90e6a338e01f512b24df
+size 1551784

objects/hammer_annotated/model_data.json

@@ -0,0 +1,170 @@
+{
+    "center": [
+        -0.003247481392605794,
+        0.08859923551573072,
+        -0.10570571998224731
+    ],
+    "extents": [
+        0.33899723948887606,
+        2.2179051871682356,
+        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,
+                -0.000796326458243414,
+                -0.9999993658637696,
+                0.0
+            ],
+            [
+                0.9999996829318345,
+                6.341362302272584e-07,
+                0.000796326458243414,
+                0.0
+            ],
+            [
+                0.0,
+                -0.9999996829318345,
+                0.0007963267107332633,
+                0.0
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ]
+    ],
+    "transform_matrix": [
+        [
+            0.0007963267107332633,
+            -0.000796326458243414,
+            -0.9999993658637696,
+            0.0
+        ],
+        [
+            0.9999996829318345,
+            6.341362302272584e-07,
+            0.000796326458243414,
+            0.0
+        ],
+        [
+            -0.0,
+            -0.9999996829318345,
+            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,
+            0.9589525935841178
+        ],
+        [
+            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."
+    ]
+}

objects/meat_annotated/base.mtl

@@ -0,0 +1,13 @@
+# Blender 4.0.2 MTL File: 'Raw meat.blend'
+# www.blender.org
+
+newmtl Meat
+Ns 250.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.500000 0.500000 0.500000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd texture.jpg

objects/meat_annotated/model_data.json

@@ -0,0 +1,203 @@
+{
+    "center": [
+        -0.00423562262852953,
+        -6.1082878781129495e-18,
+        0.337840786621551
+    ],
+    "extents": [
+        1.0521263315853444,
+        0.09391805929786964,
+        0.8636689236370982
+    ],
+    "scale": [
+        0.08,
+        0.4,
+        0.08
+    ],
+    "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,
+                0.35
+            ],
+            [
+                0.0,
+                0.0,
+                0.0,
+                1.0
+            ]
+        ],
+        [
+            [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+            ],
+            [
+                0.0,
+                6.123233995736766e-17,
+                1.0,
+                0.0
+            ],
+            [
+                0.0,
+                -1.0,
+                6.123233995736766e-17,
+                0.35
+            ],
+            [
+                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,
+            0.04695902964893482
+        ],
+        [
+            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": [
+        "Grasping the side of the meat.",
+        "Grasping the side of the meat."
+    ],
+    "target_point_discription": [
+        "The center of the object."
+    ],
+    "functional_point_discription": [
+        ""
+    ],
+    "orientation_point_discription": [
+        ""
+    ]
+}

objects/meat_annotated/models.py

@@ -0,0 +1,117 @@
+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
+    green_color = [0.0, 1.0, 0.0, 0.5]
+    blue_color = [0.0, 0.0, 1.0, 0.5]
+    scale = [0.08,0.4,0.08]
+
+    shape = oriented_bounding_box.extents.tolist()
+    
+    print(shape)
+    target_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.2)
+    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=2)
+        axis.apply_transform(contact_trans_matrix_sphere)
+        scene.add_geometry(axis)
+        scene.add_geometry(contact_sphere)
+        contact_point_discription_list.append(discription)
+
+
+    alpha = 0.95
+    delta = 0.05
+    
+    add_contact_point(0.1, [0, 0, 0.35], [PI / 2, 0, 0], "Grasping the side of the meat.")
+    add_contact_point(0.1, [0, 0, 0.35], [-PI / 2, 0, 0 ], "Grasping the side of the meat.")
+
+    
+    # 旋转矩阵的参数顺序是 (X, Y, Z)   to endpose axis
+    transform_matrix = trimesh.transformations.euler_matrix(0,0,0)
+    transform_matrix = transform_matrix.tolist()
+
+    # 方向点
+    orientation_point = trimesh.creation.icosphere(subdivisions=2, radius=0.1)
+    orientation_point_sphere = trimesh.transformations.translation_matrix([0,oriented_bounding_box.extents[1]/2,0])
+    orientation_point.apply_transform(orientation_point_sphere)
+    orientation_point.visual.vertex_colors = np.array([green_color] * len(orientation_point.vertices))
+    orientation_point_list = orientation_point_sphere.tolist()
+    scene.add_geometry(orientation_point)
+
+    # axis1
+    axis1 = trimesh.creation.axis(axis_length=1.5)
+    axis1.apply_transform(transform_matrix)
+
+    functional_sphere = trimesh.creation.icosphere(subdivisions=2, radius=0.15)
+    functional_trans_matrix_sphere = trimesh.transformations.translation_matrix([0,0,0]) @ 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)
+
+    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': [""],
+        'orientation_point_discription': [""]
+    }
+    with open(save_path, 'w') as json_file:
+        json.dump(data, json_file, indent=4, separators=(',', ': '))
+
+    # 将坐标轴添加到场景
+    axis = trimesh.creation.axis(axis_length=1.5,origin_size= 0.05)
+    # scene.add_geometry(axis1)
+    scene.show()
+
+if __name__ == "__main__":
+    id = ""
+    create_model_data(id)

objects/meat_annotated/textured.obj

@@ -0,0 +1,430 @@
+# Blender 4.0.2
+# www.blender.org
+mtllib base.mtl
+o Raw_meat
+v 0.06786392558320495 -0.04695902964893474 0.6564016352339542
+v 0.05385090403360703 -0.04695902964893474 0.03929269551634805
+v -0.052195113179424976 -0.04695902964893474 0.6619070427612126
+v -0.04009474156135173 -0.04695902964893474 0.05332186015831672
+v -0.08500666362331916 -0.04695902964893474 0.6242705467849294
+v -0.07676633016833363 -0.04695902964893474 0.06663929833538151
+v -0.12090604025474208 -0.04695902964893474 0.599951488985711
+v -0.112665911142698 -0.04695902964893474 0.06548128688645517
+v -0.20891777117432211 -0.04695902964893474 0.5953192388470644
+v -0.20067764206227803 -0.04695902964893474 0.07242955992295451
+v -0.2633461483603318 -0.04695902964893474 0.6068997620222103
+v -0.2551060192482877 -0.04695902964893474 0.08401008309810053
+v -0.28187494457197715 -0.04695902964893474 0.6045837391243578
+v -0.29100560022265204 -0.04695902964893474 0.10485490220759851
+v -0.3015617522325488 -0.04695902964893474 0.20853074564330626
+v -0.3025861233977981 -0.04695902964893474 0.14191249463088923
+v -0.35019986783098545 -0.04695902964893474 0.615006046507636
+v -0.31777452554634156 -0.04695902964893474 0.2467463495155233
+v -0.35946436810827886 -0.04695902964893474 0.615006046507636
+v -0.3351451059661192 -0.04695902964893474 0.34170635347160266
+v -0.38262521011562944 -0.04695902964893474 0.5964772502959906
+v -0.3583061523164111 -0.04695902964893474 0.36255137692404205
+v -0.4208408139878465 -0.04695902964893474 0.5049912806866904
+v -0.4023120177762011 -0.04695902964893474 0.37760593444596696
+v -0.45210814482356415 -0.04695902964893474 0.41882047532620287
+v -0.43357934861191877 -0.04695902964893474 0.39545202089038756
+v 0.11650204118164165 -0.04695902964893474 0.5984992237011656
+v 0.16965572709918436 -0.04695902964893474 0.035818661169569076
+v 0.15587565650278495 -0.04695902964893474 0.5846026776281669
+v 0.20902934242032767 -0.04695902964893474 0.041608922757142064
+v 0.1952492718239283 -0.04695902964893474 0.6205022586025313
+v 0.24840316208441238 -0.04695902964893474 0.05434745738121443
+v 0.22651660265964596 -0.04695902964893474 0.6193440428106635
+v 0.2796704929201301 -0.04695902964893474 0.06013771896878742
+v 0.28557722998430235 -0.04695902964893474 0.5625996427268012
+v 0.33873091590184506 -0.04695902964893474 0.07056023069500711
+v 0.3596924148308837 -0.04695902964893474 0.48385241208451457
+v 0.40010756612435405 -0.04695902964893474 0.11109185746507673
+v 0.38980152987473365 -0.04695902964893474 0.36341513453734914
+v 0.42095258957679343 -0.04695902964893474 0.13541091526429513
+v 0.425701110849098 -0.04695902964893474 0.2855555696325137
+v 0.44411363592708547 -0.04695902964893474 0.20863843437342527
+v 0.08018253546269573 0.017235305392569348 0.692443643238476
+v 0.06454682661542288 0.017235305392569348 0.0038763855983998986
+v -0.053778975318233495 0.017235305392569348 0.6985866007429091
+v -0.04027742415096532 0.017235305392569348 0.019529872281574774
+v -0.09038966972867755 0.017235305392569348 0.6565918785123996
+v -0.08119525908028512 0.017235305392569348 0.03438948663740204
+v -0.13044619915998706 0.017235305392569348 0.6294565662947761
+v -0.12125178851159463 0.017235305392569348 0.03309742621891585
+v -0.22864932993906087 0.017235305392569348 0.62428812027789
+v -0.21945491929066843 0.017235305392569348 0.040850197415715696
+v -0.2893800521237975 0.017235305392569348 0.6372095418345173
+v -0.2801858458183465 0.017235305392569348 0.053771618972343005
+v -0.31005444922016606 0.017235305392569348 0.6346252166546035
+v -0.320242375249656 0.017235305392569348 0.07703034124862526
+v -0.33202090673502077 0.017235305392569348 0.19271133249171285
+v -0.3331637968062833 0.017235305392569348 0.11837913544136235
+v -0.3862911224843852 0.017235305392569348 0.6462545777927448
+v -0.3501109786514755 0.017235305392569348 0.2353521871029361
+v -0.39662821886109867 0.017235305392569348 0.6462543734498033
+v -0.369493315329358 0.017235305392569348 0.3413080890788098
+v -0.4224712663172947 0.017235305392569348 0.6255799763534348
+v -0.3953361584426125 0.017235305392569348 0.364566811355092
+v -0.46511191658557655 0.017235305392569348 0.5235006643189024
+v -0.4444377238321495 0.017235305392569348 0.3813646185101192
+v -0.5 0.017235305392569348 0.4273515887868037
+v -0.47932560290363135 0.017235305392569348 0.4012770207779989
+v 0.13445254686911873 0.017235305392569348 0.627836331112398
+v 0.19376124652463741 0.017235305392569348 0.0
+v 0.17838546189882815 0.017235305392569348 0.612330584375857
+v 0.2376943658972882 0.017235305392569348 0.006460710778313656
+v 0.22231858127147894 0.017235305392569348 0.6523871138071664
+v 0.2816272809269977 0.017235305392569348 0.02067419275342711
+v 0.257206460342961 0.017235305392569348 0.6510950533886802
+v 0.3165151599984797 0.017235305392569348 0.0271351078746822
+v 0.32310583288752515 0.017235305392569348 0.5877798016810886
+v 0.38241473688598515 0.017235305392569348 0.03876426466988194
+v 0.4058032169300579 0.017235305392569348 0.4999137672787282
+v 0.45089843461046303 0.017235305392569348 0.08398944446101893
+v 0.4393990355830537 0.017235305392569348 0.36553069700968627
+v 0.47415715688674537 0.017235305392569348 0.11112455233570112
+v 0.4794555650143632 0.017235305392569348 0.2786551128443025
+v 0.5 0.017235305392569348 0.19283148614125736
+v 0.056893366088144534 0.04695902964893474 0.624303854684378
+v 0.044325253477201634 0.04695902964893474 0.07083384589354466
+v -0.05078473819786691 0.04695902964893474 0.6292413931774796
+v -0.03993228892293698 0.04695902964893474 0.08341605816744431
+v -0.08021257387508192 0.04695902964893474 0.5954859826872486
+v -0.07282210271338821 0.04695902964893474 0.09536031177828624
+v -0.11240986943712104 0.04695902964893474 0.5736748258078597
+v -0.10501939827542732 0.04695902964893474 0.09432163660713883
+v -0.19134550427138053 0.04695902964893474 0.5695203294662112
+v -0.1839550331096868 0.04695902964893474 0.10055327894814062
+v -0.24016098954295434 0.04695902964893474 0.5799066724918027
+v -0.23277051838126062 0.04695902964893474 0.11093962197373208
+v -0.2567789749095476 0.04695902964893474 0.5778295264924493
+v -0.26496781394329977 0.04695902964893474 0.12963495768262023
+v -0.27443563544728833 0.04695902964893474 0.22261916973828164
+v -0.27535415696889126 0.04695902964893474 0.1628709284158068
+v -0.3180579492060664 0.04695902964893474 0.587176990003952
+v -0.28897647481452815 0.04695902964893474 0.2568938156426156
+v -0.32636694188936305 0.04695902964893474 0.587176990003952
+v -0.30455578500997404 0.04695902964893474 0.3420612971608183
+v -0.34713942359760463 0.04695902964893474 0.5705588002944173
+v -0.32532826671821563 0.04695902964893474 0.360756428526765
+v -0.3814140695019386 0.04695902964893474 0.4885073442896569
+v -0.36479608413534537 0.04695902964893474 0.3742585927228574
+v -0.4094570730652708 0.04695902964893474 0.41122280042192727
+v -0.39283888335573613 0.04695902964893474 0.39026416229406824
+v 0.1005156798469226 0.04695902964893474 0.5723723438993619
+v 0.14818786636135103 0.04695902964893474 0.06771782038010239
+v 0.13582879657946262 0.04695902964893474 0.5599088548744169
+v 0.18350118743683244 0.04695902964893474 0.07291099189289811
+v 0.17114211765494403 0.04695902964893474 0.5921063547793974
+v 0.21881450851231388 0.04695902964893474 0.08433580574669566
+v 0.19918512121827625 0.04695902964893474 0.5910678839511914
+v 0.24685751207564607 0.04695902964893474 0.08952897725949142
+v 0.25215510283149833 0.04695902964893474 0.5401750483373228
+v 0.29982728934592684 0.04695902964893474 0.09887664511393549
+v 0.3186272486408129 0.04695902964893474 0.46954840618635985
+v 0.3548746213014438 0.04695902964893474 0.13522864136056434
+v 0.3456313726900563 0.04695902964893474 0.3615312969605622
+v 0.37356995701033197 0.04695902964893474 0.15703979823995337
+v 0.3778288725950368 0.04695902964893474 0.29170077490930235
+v 0.39434243871857355 0.04695902964893474 0.22271561960662345
+vn 0.7072 -0.6707 -0.2237
+vn 0.2948 -0.4642 0.8353
+vn -0.5088 -0.4208 0.7510
+vn 0.1554 -0.5208 -0.8394
+vn -0.6289 -0.3408 -0.6988
+vn -0.7532 -0.5983 0.2733
+vn -0.4299 -0.5167 -0.7404
+vn 0.7733 -0.6038 0.1933
+vn 0.1402 -0.3685 0.9190
+vn -0.3058 -0.4442 -0.8421
+vn -0.0476 -0.4230 0.9049
+vn -0.6714 -0.0826 0.7364
+vn 0.1486 -0.5183 -0.8422
+vn -0.3198 -0.1551 -0.9347
+vn -0.0263 -0.4795 -0.8771
+vn -0.8314 -0.4912 -0.2598
+vn 0.7386 -0.5818 0.3405
+vn -0.0000 -0.4377 0.8991
+vn 0.0288 -0.4471 -0.8940
+vn 0.1947 -0.3531 0.9151
+vn 0.0329 -0.4557 0.8895
+vn 0.4328 -0.6191 -0.6553
+vn -0.9047 -0.4258 0.0139
+vn -0.1310 -0.4621 -0.8771
+vn -0.4780 -0.2647 -0.8375
+vn 0.7634 -0.6196 0.1827
+vn 0.1244 -0.5187 -0.8459
+vn -0.8124 -0.4704 -0.3446
+vn -0.5017 -0.5958 0.6272
+vn -0.0700 -0.4567 -0.8868
+vn 0.5708 -0.5667 0.5941
+vn -0.7003 -0.4487 -0.5553
+vn -0.1101 -0.4605 0.8808
+vn 0.0398 -0.4950 0.8680
+vn 0.5713 -0.6587 -0.4897
+vn 0.6827 -0.4529 0.5734
+vn -0.7013 -0.3666 0.6114
+vn -0.8701 -0.4665 -0.1592
+vn 0.2571 -0.5499 -0.7947
+vn -0.1830 -0.4765 -0.8599
+vn -0.7391 -0.5987 0.3087
+vn 0.5981 -0.5705 0.5629
+vn -0.0000 -1.0000 -0.0000
+vn 0.0678 0.9280 -0.3663
+vn 0.0793 0.8507 0.5196
+vn 0.2422 0.9431 0.2279
+vn -0.3745 0.8286 -0.4161
+vn -0.3979 0.8493 0.3469
+vn 0.2941 0.9461 0.1356
+vn -0.3301 0.7461 -0.5783
+vn -0.0339 0.9026 -0.4292
+vn -0.4616 0.8871 0.0071
+vn 0.1073 0.9373 -0.3317
+vn 0.2324 0.9421 0.2419
+vn 0.0181 0.9187 0.3946
+vn -0.4143 0.9070 -0.0758
+vn 0.2882 0.9551 0.0690
+vn -0.3436 0.8987 -0.2724
+vn 0.0142 0.8980 -0.4397
+vn 0.0545 0.9273 -0.3704
+vn -0.0529 0.9043 0.4236
+vn 0.0160 0.9021 0.4312
+vn -0.3843 0.9087 -0.1631
+vn 0.2045 0.9630 -0.1753
+vn -0.2873 0.9503 0.1200
+vn -0.1512 0.8966 -0.4163
+vn 0.1133 0.8389 0.5324
+vn -0.0123 0.9125 -0.4088
+vn -0.6382 0.3207 0.6999
+vn -0.3802 0.9172 -0.1188
+vn 0.1635 0.9550 -0.2476
+vn -0.1959 0.9496 0.2448
+vn -0.0628 0.9050 -0.4207
+vn 0.2492 0.9652 -0.0788
+vn -0.2930 0.9502 0.1063
+vn -0.0244 0.8855 0.4640
+vn 0.1409 0.9059 0.3993
+vn -0.1888 0.9266 -0.3252
+vn -0.0000 0.8933 0.4494
+vn 0.0651 0.9272 -0.3690
+vn 0.2984 0.9515 0.0746
+vn -0.2619 0.8843 0.3865
+vn -0.2725 0.5397 -0.7965
+vn 0.3325 0.9008 0.2793
+vn -0.0857 0.9113 -0.4027
+vn -0.0000 1.0000 -0.0000
+vt 0.882987 0.656107
+vt 0.862862 0.742842
+vt 0.909092 0.771609
+vt 0.931548 0.674830
+vt 0.598317 0.194331
+vt 0.632530 0.210791
+vt 0.652090 0.177948
+vt 0.613915 0.159582
+vt 0.392028 0.192611
+vt 0.423222 0.163805
+vt 0.418545 0.125522
+vt 0.383739 0.157663
+vt 0.740099 0.832001
+vt 0.712930 0.838859
+vt 0.741799 0.878744
+vt 0.772114 0.871091
+vt 0.205871 0.498493
+vt 0.185746 0.473803
+vt 0.153570 0.471415
+vt 0.176025 0.498964
+vt 0.104239 0.407154
+vt 0.131408 0.305088
+vt 0.092940 0.283164
+vt 0.062625 0.397049
+vt 0.275419 0.803725
+vt 0.244225 0.779035
+vt 0.218820 0.811992
+vt 0.253626 0.839541
+vt 0.809631 0.330126
+vt 0.835794 0.472779
+vt 0.878890 0.470274
+vt 0.849698 0.311102
+vt 0.192789 0.174779
+vt 0.252159 0.187124
+vt 0.227673 0.151541
+vt 0.161429 0.137766
+vt 0.462247 0.840074
+vt 0.430382 0.824300
+vt 0.426534 0.862499
+vt 0.462088 0.880099
+vt 0.315553 0.198097
+vt 0.298408 0.163785
+vt 0.666743 0.168269
+vt 0.690264 0.130502
+vt 0.791417 0.819656
+vt 0.829375 0.857317
+vt 0.147508 0.455971
+vt 0.110904 0.451519
+vt 0.644504 0.860806
+vt 0.543878 0.856691
+vt 0.553173 0.898640
+vt 0.665450 0.903232
+vt 0.234162 0.735141
+vt 0.207593 0.763016
+vt 0.866988 0.565001
+vt 0.913696 0.573175
+vt 0.184739 0.174779
+vt 0.152447 0.137766
+vt 0.399188 0.825671
+vt 0.391728 0.864029
+vt 0.268259 0.184381
+vt 0.245637 0.148480
+vt 0.693912 0.169641
+vt 0.720579 0.132033
+vt 0.844749 0.771647
+vt 0.888882 0.803749
+vt 0.235052 0.656234
+vt 0.208586 0.674972
+vt 0.120339 0.434833
+vt 0.080589 0.427933
+vt 0.678717 0.853948
+vt 0.703624 0.895579
+vt 0.220965 0.610969
+vt 0.192867 0.624466
+vt 0.164614 0.196726
+vt 0.129991 0.162255
+vt 0.322713 0.817441
+vt 0.306397 0.854846
+vt 0.745231 0.236852
+vt 0.777840 0.207027
+vt 0.451733 0.119226
+vt 0.556055 0.125747
+vt 0.566759 0.083057
+vt 0.450356 0.075781
+vt 0.687219 0.803339
+vt 0.711586 0.797188
+vt 0.273965 0.218813
+vt 0.220718 0.207741
+vt 0.773949 0.347068
+vt 0.716190 0.263414
+vt 0.214401 0.475928
+vt 0.232451 0.498072
+vt 0.452958 0.157918
+vt 0.427388 0.197900
+vt 0.825390 0.557722
+vt 0.797414 0.475011
+vt 0.155739 0.440978
+vt 0.180107 0.459936
+vt 0.337243 0.784130
+vt 0.405832 0.791511
+vt 0.258623 0.639547
+vt 0.257825 0.710317
+vt 0.656535 0.816871
+vt 0.670163 0.203133
+vt 0.546522 0.163766
+vt 0.245988 0.598950
+vt 0.839740 0.639433
+vt 0.141300 0.416153
+vt 0.433810 0.790281
+vt 0.625850 0.823022
+vt 0.288405 0.216353
+vt 0.645796 0.201903
+vt 0.805445 0.743058
+vt 0.821690 0.717224
+vt 0.195449 0.227425
+vt 0.165667 0.324612
+vt 0.462388 0.804428
+vt 0.330822 0.228655
+vt 0.535602 0.819332
+vt 0.615111 0.240039
+vt 0.266850 0.749684
+vt 0.757613 0.786116
+vt 0.213499 0.207741
+vt 0.399411 0.223734
+vt 0.584427 0.225277
+vt 0.294827 0.771828
+s 0
+usemtl Meat
+f 42/1/1 40/2/1 82/3/1 84/4/1
+f 27/5/2 29/6/2 71/7/2 69/8/2
+f 7/9/3 5/10/3 47/11/3 49/12/3
+f 34/13/4 32/14/4 74/15/4 76/16/4
+f 20/17/5 22/18/5 64/19/5 62/20/5
+f 25/21/6 23/22/6 65/23/6 67/24/6
+f 12/25/7 14/26/7 56/27/7 54/28/7
+f 37/29/8 39/30/8 81/31/8 79/32/8
+f 17/33/9 13/34/9 55/35/9 59/36/9
+f 4/37/10 6/38/10 48/39/10 46/40/10
+f 9/41/11 7/9/11 49/12/11 51/42/11
+f 29/6/12 31/43/12 73/44/12 71/7/12
+f 36/45/13 34/13/13 76/16/13 78/46/13
+f 22/18/14 24/47/14 66/48/14 64/19/14
+f 28/49/15 2/50/15 44/51/15 70/52/15
+f 14/26/16 16/53/16 58/54/16 56/27/16
+f 39/30/17 41/55/17 83/56/17 81/31/17
+f 19/57/18 17/33/18 59/36/18 61/58/18
+f 6/38/19 8/59/19 50/60/19 48/39/19
+f 11/61/20 9/41/20 51/42/20 53/62/20
+f 31/43/21 33/63/21 75/64/21 73/44/21
+f 38/65/22 36/45/22 78/46/22 80/66/22
+f 16/53/23 15/67/23 57/68/23 58/54/23
+f 2/50/24 4/37/24 46/40/24 44/51/24
+f 24/47/25 26/69/25 68/70/25 66/48/25
+f 41/55/26 42/1/26 84/4/26 83/56/26
+f 30/71/27 28/49/27 70/52/27 72/72/27
+f 15/67/28 18/73/28 60/74/28 57/68/28
+f 21/75/29 19/57/29 61/58/29 63/76/29
+f 8/59/30 10/77/30 52/78/30 50/60/30
+f 33/63/31 35/79/31 77/80/31 75/64/31
+f 26/69/32 25/21/32 67/24/32 68/70/32
+f 13/34/33 11/61/33 53/62/33 55/35/33
+f 3/81/34 1/82/34 43/83/34 45/84/34
+f 40/2/35 38/65/35 80/66/35 82/3/35
+f 1/82/36 27/5/36 69/8/36 43/83/36
+f 5/10/37 3/81/37 45/84/37 47/11/37
+f 18/73/38 20/17/38 62/20/38 60/74/38
+f 32/14/39 30/71/39 72/72/39 74/15/39
+f 10/77/40 12/25/40 54/28/40 52/78/40
+f 23/22/41 21/75/41 63/76/41 65/23/41
+f 35/79/42 37/29/42 79/32/42 77/80/42
+f 3/81/43 5/10/43 7/9/43 9/41/43 11/61/43 13/34/43 17/33/43 19/57/43 21/75/43 23/22/43 25/21/43 26/69/43 24/47/43 22/18/43 20/17/43 18/73/43 15/67/43 16/53/43 14/26/43 12/25/43 10/77/43 8/59/43 6/38/43 4/37/43 2/50/43 28/49/43 30/71/43 32/14/43 34/13/43 36/45/43 38/65/43 40/2/43 42/1/43 41/55/43 39/30/43 37/29/43 35/79/43 33/63/43 31/43/43 29/6/43 27/5/43 1/82/43
+f 76/16/44 74/15/44 116/85/44 118/86/44
+f 59/36/45 55/35/45 97/87/45 101/88/45
+f 77/80/46 79/32/46 121/89/46 119/90/46
+f 62/20/47 64/19/47 106/91/47 104/92/47
+f 47/11/48 45/84/48 87/93/48 89/94/48
+f 81/31/49 83/56/49 125/95/49 123/96/49
+f 66/48/50 68/70/50 110/97/50 108/98/50
+f 50/60/51 52/78/51 94/99/51 92/100/51
+f 58/54/52 57/68/52 99/101/52 100/102/52
+f 74/15/53 72/72/53 114/103/53 116/85/53
+f 75/64/54 77/80/54 119/90/54 117/104/54
+f 45/84/55 43/83/55 85/105/55 87/93/55
+f 60/74/56 62/20/56 104/92/56 102/106/56
+f 83/56/57 84/4/57 126/107/57 125/95/57
+f 68/70/58 67/24/58 109/108/58 110/97/58
+f 48/39/59 50/60/59 92/100/59 90/109/59
+f 72/72/60 70/52/60 112/110/60 114/103/60
+f 55/35/61 53/62/61 95/111/61 97/87/61
+f 73/44/62 75/64/62 117/104/62 115/112/62
+f 57/68/63 60/74/63 102/106/63 99/101/63
+f 82/3/64 80/66/64 122/113/64 124/114/64
+f 65/23/65 63/76/65 105/115/65 107/116/65
+f 46/40/66 48/39/66 90/109/66 88/117/66
+f 53/62/67 51/42/67 93/118/67 95/111/67
+f 70/52/68 44/51/68 86/119/68 112/110/68
+f 71/7/69 73/44/69 115/112/69 113/120/69
+f 56/27/70 58/54/70 100/102/70 98/121/70
+f 80/66/71 78/46/71 120/122/71 122/113/71
+f 63/76/72 61/58/72 103/123/72 105/115/72
+f 44/51/73 46/40/73 88/117/73 86/119/73
+f 84/4/74 82/3/74 124/114/74 126/107/74
+f 67/24/75 65/23/75 107/116/75 109/108/75
+f 51/42/76 49/12/76 91/124/76 93/118/76
+f 69/8/77 71/7/77 113/120/77 111/125/77
+f 54/28/78 56/27/78 98/121/78 96/126/78
+f 61/58/79 59/36/79 101/88/79 103/123/79
+f 78/46/80 76/16/80 118/86/80 120/122/80
+f 79/32/81 81/31/81 123/96/81 121/89/81
+f 49/12/82 47/11/82 89/94/82 91/124/82
+f 64/19/83 66/48/83 108/98/83 106/91/83
+f 43/83/84 69/8/84 111/125/84 85/105/84
+f 52/78/85 54/28/85 96/126/85 94/99/85
+f 87/93/86 85/105/86 111/125/86 113/120/86 115/112/86 117/104/86 119/90/86 121/89/86 123/96/86 125/95/86 126/107/86 124/114/86 122/113/86 120/122/86 118/86/86 116/85/86 114/103/86 112/110/86 86/119/86 88/117/86 90/109/86 92/100/86 94/99/86 96/126/86 98/121/86 100/102/86 99/101/86 102/106/86 104/92/86 106/91/86 108/98/86 110/97/86 109/108/86 107/116/86 105/115/86 103/123/86 101/88/86 97/87/86 95/111/86 93/118/86 91/124/86 89/94/86

objects/pot_annotated/bounding_box.json

@@ -0,0 +1 @@
+{"min": [-0.973483, -0.457527, -0.69735], "max": [0.934066, 0.61347, 0.710051]}