objects/kettle/model_data.json

{
    "center": [
        -0.021152891622124238,
        -0.046617501643916794,
        0.36439309480268756
    ],
    "extents": [
        1.0832623660318477,
        1.2252524190881948,
        0.9945132687006788
    ],
    "scale": [
        0.25,
        0.25,
        0.25
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                -0.07
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.5
            ],
            [
                0.0,
                0.0,
                1.0,
                0.35
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                1.0,
                0.0,
                0.0,
                -0.35
            ],
            [
                0.0,
                1.0,
                0.0,
                0.25
            ],
            [
                0.0,
                0.0,
                1.0,
                0.22
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.2
            ],
            [
                0.0,
                1.0,
                0.0,
                0.18
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                0.45
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.2
            ],
            [
                0.0,
                1.0,
                0.0,
                0.18
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                0.48
            ],
            [
                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
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                -1.0,
                1.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.0
            ],
            [
                1.0,
                0.0,
                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,
            0.6126262095440974
        ],
        [
            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 kettle.",
        "Grasping the side of the kettle."
    ],
    "target_point_discription": [
        "The base of the kettle.",
        "The spout of the kettle."
    ],
    "functional_point_discription": [
        "The functional matrix of the base",
        "The functional matrix of the spout"
    ],
    "orientation_point_discription": [
        ""
    ]
}