objects/020_hammer/model_data.json

{
    "center": [
        -0.003247481392606069,
        0.0885992355157306,
        -0.10570571998224718
    ],
    "extents": [
        0.33899723948887567,
        2.217905187168237,
        1.6975571233870577
    ],
    "scale": [
        0.079,
        0.079,
        0.079
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.8
            ],
            [
                0.0,
                0.0,
                1.0,
                0.65
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                0.0007963267107332633,
                -0.0007963264582434141,
                -0.9999993658637698,
                0.0
            ],
            [
                0.9999996829318346,
                6.341362302272584e-07,
                0.0007963264582434141,
                0.0
            ],
            [
                0.0,
                -0.9999996829318346,
                0.0007963267107332633,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "transform_matrix": [
        [
            0.0007963267107332633,
            -0.0007963264582434141,
            -0.9999993658637698,
            0.0
        ],
        [
            0.9999996829318346,
            6.341362302272584e-07,
            0.0007963264582434141,
            0.0
        ],
        [
            -0.0,
            -0.9999996829318346,
            0.0007963267107332633,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.8
            ],
            [
                0.0,
                0.0,
                1.0,
                0.65
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.9589525935841184
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grab the hammer's handle with the head facing outward."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        "Point 0: The head of the hammer is facing outward."
    ]
}