objects/021_cup/model_data12.json

{
    "center": [
        0.10872674539211392,
        0.778128917442587,
        0.09148061041440413
    ],
    "extents": [
        2.081834673148454,
        1.6314159025661026,
        2.2694722067821775
    ],
    "scale": [
        0.08,
        0.08,
        0.08
    ],
    "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
        ]
    ],
    "target_pose": [],
    "contact_points_pose": [
        [
            [
                -0.0,
                -0.0,
                -1.0,
                0.0
            ],
            [
                1.0,
                0.00033999999868683517,
                -0.0,
                0.7240399718284607
            ],
            [
                0.00033999999868683517,
                -1.0,
                0.0,
                -0.8185200095176697
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -0.0003499999875202775,
                0.0,
                1.0,
                0.0
            ],
            [
                1.0,
                0.0,
                0.0003499999875202775,
                0.8458399772644043
            ],
            [
                -0.0,
                1.0,
                -0.0,
                0.30629000067710876
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                1.7385200262069702
            ],
            [
                0.0,
                -0.0,
                1.0,
                0.31848999857902527
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [],
    "contact_points_mask": [],
    "target_point_discription": [],
    "contact_points_discription": [],
    "functional_point_discription": [],
    "orientation_point_discription": [],
    "stable": true
}