objects/039_mug/model_data9.json

{
    "center": [
        0.12977315421593222,
        -0.0003198852373147552,
        0.08071536066235653
    ],
    "extents": [
        1.831843335645293,
        1.4835164998561754,
        2.1240733039931277
    ],
    "scale": [
        0.07,
        0.07,
        0.07
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.7417582499280877
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                0.0,
                0.0,
                1.0,
                0.88
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                0.88
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                -1.0,
                0.55
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                1.0,
                0.0,
                6.123233995736766e-17,
                0.38
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                1.0,
                0.55
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                -1.0,
                0.0,
                6.123233995736766e-17,
                0.38
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                -1.0,
                0.55
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                1.0,
                0.0,
                6.123233995736766e-17,
                0.38
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                1.0,
                0.55
            ],
            [
                0.0,
                1.0,
                0.0,
                0.7
            ],
            [
                -1.0,
                0.0,
                6.123233995736766e-17,
                0.38
            ],
            [
                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": [
        [
            [
                6.123233995736766e-17,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.28
            ],
            [
                -1.0,
                0.0,
                6.123233995736766e-17,
                -0.5
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                -0.7417582499280877
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.0
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0,
            1
        ],
        [
            2,
            3
        ],
        [
            4,
            5
        ]
    ],
    "contact_points_mask": [
        true,
        true,
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup."
    ],
    "target_point_discription": [
        ""
    ],
    "functional_point_discription": [
        "Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
        "Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
    ],
    "orientation_point_discription": [
        ""
    ]
}