objects/002_container_test/model_data2.json

{
    "center": [
        -7.73711859633523e-05,
        -0.0006792410330051096,
        2.1884144453476266e-05
    ],
    "extents": [
        0.9524332632259895,
        1.0000944370938694,
        0.9523442353294028
    ],
    "scale": [
        0.11,
        0.11,
        0.11
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
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                0.0,
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            [
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                1.0,
                0.0
            ],
            [
                0.0,
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                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                1.0,
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                0.0
            ],
            [
                0.0,
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            [
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                1.0,
                0.333320482365291
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.5000472185469347
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                0.333320482365291
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                1.0,
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            ],
            [
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                0.0,
                0.5000472185469347
            ],
            [
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                0.0,
                1.0,
                -0.333320482365291
            ],
            [
                0.0,
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                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.5000472185469347
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                -0.333320482365291
            ],
            [
                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,
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            1.0,
            0.0
        ],
        [
            0.0,
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            0.0,
            1.0
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                -0.5000472185469347
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0,
            1
        ],
        [
            2,
            3
        ]
    ],
    "contact_points_mask": [
        true,
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the container.",
        "Grasping the side of the container.",
        "Grasping the side of the container.",
        "Grasping the side of the container."
    ],
    "target_point_discription": [
        "The center point on the bottom of the container."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ]
}