objects/034_knife/model_data.json

{
    "center": [
        0.001658999877592745,
        -0.0021508695965769447,
        0.007129897605080125
    ],
    "extents": [
        0.07667453163127058,
        1.4787738744991925,
        0.39121158341819734
    ],
    "scale": [
        0.31,
        0.31,
        0.31
    ],
    "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,
                -0.4
            ],
            [
                0.0,
                -1.0,
                6.123233995736766e-17,
                -0.1
            ],
            [
                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,
            0.9987502603949663,
            0.04997916927067833,
            0.3
        ],
        [
            0.0,
            -0.04997916927067833,
            0.9987502603949663,
            0.17
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grasping the handle of knife."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ]
}