objects/sapien-block2/points_info.json

{
    "contact_points": [
        {
            "id": [0, 1, 2, 3],
            "description": "On the upper part of the box",
            "usage": "Used to grasp the box with the left arm."
        },
        {
            "id": [4, 5, 6, 7],
            "description": "On the lower part of the box",
            "usage": "Used to handover the box with the right arm."
        }
    ],
    "functional_points": [
        {
            "id": 0,
            "description": "On the bottom of the block",
            "usage": "Used to place the block on table or other surfaces."
        },
        {
            "id": 1,
            "description": "On the top of the block",
            "usage": "Used to indicate the position of other objects when they come into contact with the block."
        }
    ]
}