objects/001_bottles/model_data10.json

{
    "center": [
        2.749264240264494e-05,
        -2.1946981678880678e-05,
        -0.00011132733889293204
    ],
    "extents": [
        0.5540629923343662,
        1.896603098503206,
        0.550901447177121
    ],
    "scale": [
        0.132,
        0.132,
        0.132
    ],
    "target_pose": [
        [
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                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,
                -1.0,
                0.0,
                0.0
            ],
            [
                1.0,
                6.123233995736766e-17,
                0.0,
                0.0
            ],
            [
                0.0,
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                1.0,
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            ],
            [
                0.0,
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                0.0,
                1.0
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        ],
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                1.0,
                3.749399456654644e-33,
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                0.0
            ],
            [
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                6.123233995736766e-17,
                0.0
            ],
            [
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                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                1.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                1.0,
                -6.123233995736766e-17,
                -7.498798913309288e-33,
                0.0
            ],
            [
                0.0,
                1.2246467991473532e-16,
                -1.0,
                0.0
            ],
            [
                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,
                0.0
            ],
            [
                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
            ]
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.948301549251603
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
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            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the bottle.",
        "Grasping the side of the bottle.",
        "Grasping the side of the bottle.",
        "Grasping the side of the bottle."
    ],
    "target_point_discription": [
        "The center of the bottle."
    ],
    "functional_point_discription": [
        "Point 0: The center of the bottle and the functional axis is vertical and the bottom of the bottle is downward."
    ]
}