objects/041_shoes/model_data1.json

{
    "center": [
        0.00831756668261951,
        -0.004347639218574831,
        0.0036154922642171973
    ],
    "extents": [
        0.7015791827526673,
        0.9636508102788743,
        1.9409617394289338
    ],
    "scale": [
        0.12,
        0.12,
        0.12
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.337277783597606
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                6.123233995736766e-17,
                0.0,
                -1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.0
            ],
            [
                1.0,
                0.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                6.123233995736766e-17,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                0.0
            ],
            [
                -1.0,
                0.0,
                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,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                -0.337277783597606
            ],
            [
                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,
            0.9704808697144669
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0,
            1
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Grab the shoes from top to bottom",
        "Grab the shoes from top to bottom"
    ],
    "target_point_discription": [
        "The center point on the bottom of the shoes."
    ],
    "functional_point_discription": [
        "Point0: The center point on the bottom of the shoes, and functional direction is the down side."
    ],
    "orientation_point_discription": [
        "The point is on the head of shoe."
    ]
}