objects/apple/model_data.json

{
    "center": [
        -0.017426331870234308,
        -0.0030959128818834965,
        0.8134055151375713
    ],
    "extents": [
        3.197823032664527,
        3.267621677418748,
        2.6486152199825512
    ],
    "scale": [
        0.03,
        0.03,
        0.03
    ],
    "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,
                6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                -1.0,
                3.749399456654644e-33,
                -6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.8
            ],
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        ],
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            ],
            [
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                1.0,
                6.123233995736766e-17,
                0.8
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                1.0,
                3.749399456654644e-33,
                -6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.8
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                -7.498798913309288e-33,
                1.2246467991473532e-16,
                0.0
            ],
            [
                1.2246467991473532e-16,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.8
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "transform_matrix": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.0
        ],
        [
            -0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "functional_matrix": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.0
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            1.633810838709374
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
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            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the apple.",
        "Grasping the side of the apple.",
        "Grasping the side of the apple.",
        "Grasping the side of the apple."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ]
}