objects/033_fork/model_data.json

{
    "center": [
        -0.0053181221719884545,
        0.0015044679668657637,
        -0.022289468242702035
    ],
    "extents": [
        0.2131675289114259,
        1.4674641154281873,
        0.16994323300014927
    ],
    "scale": [
        0.15,
        0.15,
        0.15
    ],
    "target_pose": [
        [
            [
                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
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                -1.0,
                0.0
            ],
            [
                1.0,
                3.749399456654644e-33,
                6.123233995736766e-17,
                -0.5
            ],
            [
                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,
            -1.2246467991473532e-16,
            7.498798913309288e-33,
            0.0
        ],
        [
            0.0,
            6.123233995736766e-17,
            1.0,
            0.73
        ],
        [
            -1.2246467991473532e-16,
            1.0,
            -6.123233995736766e-17,
            0.05
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the bottle."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ]
}