objects/024_brush/model_data.json

{
    "center": [
        -0.007615484997688766,
        -0.0036439212161790743,
        0.020411398800494966
    ],
    "extents": [
        0.1609786156902938,
        1.518768434265918,
        0.5385140200429456
    ],
    "scale": [
        0.167,
        0.167,
        0.167
    ],
    "target_pose": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.35
        ],
        [
            0.0,
            0.0,
            1.0,
            0.22
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.35
            ],
            [
                0.0,
                0.0,
                1.0,
                -0.12
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "trans_matrix": [
        [
            0.0007906000353770876,
            -0.0007009964602045275,
            -0.9999994417776177,
            0.0
        ],
        [
            0.9928083210658535,
            0.11971276551130175,
            0.0007009964602045275,
            0.0
        ],
        [
            0.11971220728891936,
            -0.9928083210658535,
            0.0007906000353770876,
            -0.08
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ]
}