objects/021_cup/points_info.json

{
    "contact_points": [
        {
            "id": [0, 1, 2, 3],
            "description": "On the edge of the cup",
            "usage": "Used for grasping the cup."
        }
    ],
    "functional_points": [
        {
            "id": 0,
            "description": "On the bottom of the cup",
            "usage": "Used to place the cup on a surface."
        }
    ]
}