objects/041_shoes/model_data2.json

{
    "center": [
        0.023328256726353483,
        0.0005289796054223172,
        0.0015544775776875326
    ],
    "extents": [
        0.7676716753324242,
        0.7348919281608655,
        1.932542048365123
    ],
    "scale": [
        0.12,
        0.12,
        0.12
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.2572121748563029
            ],
            [
                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,
                -0.2572121748563029
            ],
            [
                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,
            0.9662710241825615
        ],
        [
            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."
    ]
}