objects/035_apple/model_data.json

{
    "center": [
        0.0007644283471002568,
        6.630637143470825e-05,
        -0.0009445592317205928
    ],
    "extents": [
        0.09270996178588131,
        0.09113055406854671,
        0.07790317673093121
    ],
    "scale": [
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        1,
        1
    ],
    "target_pose": [
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                0.0
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            [
                0.0,
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                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
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                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
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        ],
        [
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            ]
        ],
        [
            [
                -1.0,
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                1.2246467991473532e-16,
                0.0
            ],
            [
                1.2246467991473532e-16,
                -6.123233995736766e-17,
                1.0,
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            ],
            [
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            [
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        ],
        [
            [
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                6.123233995736766e-17,
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                0.0
            ],
            [
                -1.0,
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                -6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
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                0.0,
                1.0
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        ]
    ],
    "transform_matrix": [
        [
            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
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    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                -1.0,
                -1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.2246467991473532e-16,
                -1.0,
                0.0
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            [
                0.0,
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        ]
    ],
    "orientation_point": [
        [
            1.0,
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            0.0,
            0.0
        ],
        [
            0.0,
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            0.0,
            0.045565277034273356
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        [
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        [
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    ],
    "contact_points_group": [
        [
            0,
            1,
            2,
            3
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grab the apple from top to bottom.",
        "Grab the apple from top to bottom.",
        "Grab the apple from top to bottom.",
        "Grab the apple from top to bottom."
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "functional_point_discription": [
        "Point0: Apple center point, axis perpendicular to the apple ground downward"
    ],
    "orientation_point_discription": [
        ""
    ]
}