objects/barrel_annotated/model_data.json

{
    "center": [
        -0.002382030388980383,
        0.047954217310709216,
        -0.14811597562402742
    ],
    "extents": [
        0.133843028759591,
        0.13199282088810027,
        0.530750415103979
    ],
    "scale": [
        1.0,
        1.0,
        1.0
    ],
    "target_pose": [
        [
            [
                6.123233995736766e-17,
                6.123233995736766e-17,
                1.0,
                0.0
            ],
            [
                -1.0,
                3.749399456654644e-33,
                6.123233995736766e-17,
                0.045
            ],
            [
                0.0,
                -1.0,
                6.123233995736766e-17,
                -0.45
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                6.123233995736766e-17,
                -6.123233995736766e-17,
                -1.0,
                -0.035
            ],
            [
                1.0,
                3.749399456654644e-33,
                6.123233995736766e-17,
                0.045
            ],
            [
                0.0,
                -1.0,
                6.123233995736766e-17,
                -0.5
            ],
            [
                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,
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            1.0,
            0.0
        ],
        [
            0.0,
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            0.0,
            1.0
        ]
    ],
    "functional_matrix": [],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            -0.0533792786507395
        ],
        [
            0.0,
            1.0,
            0.0,
            0.006064180689306108
        ],
        [
            0.0,
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            1.0,
            -0.1479379501046653
        ],
        [
            0.0,
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            1.0
        ]
    ],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "contact_points_discription": [
        "Single contact at CONTACT_POS."
    ],
    "target_point_discription": [
        "User-defined target at TARGET_POS."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        "OBB +Y reference."
    ]
}