objects/steel_barrier_annotated/model_data.json

{
    "center": [
        4.618628782634969e-18,
        -4.618628782634969e-18,
        0.22393549999999987
    ],
    "extents": [
        1.0,
        0.20949000000000012,
        0.447871
    ],
    "scale": [
        0.6,
        0.6,
        0.2
    ],
    "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,
                0.37
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.37
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                1.0,
                0.0,
                0.0,
                -0.37
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.37
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                -7.498798913309288e-33,
                1.2246467991473532e-16,
                0.37
            ],
            [
                1.2246467991473532e-16,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.37
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                -7.498798913309288e-33,
                1.2246467991473532e-16,
                -0.37
            ],
            [
                1.2246467991473532e-16,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.37
            ],
            [
                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,
                -0.2
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.3
            ],
            [
                0.0,
                0.0,
                1.0,
                0.2
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.10474500000000006
        ],
        [
            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 steel.",
        "Grasping the side of the steel.",
        "Grasping the side of the steel.",
        "Grasping the side of the steel."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ]
}