objects/021_cup/model_data5.json

{
    "center": [
        0.00015236335216860228,
        0.5088197493278478,
        0.00031918860871127337
    ],
    "extents": [
        1.0980872431351902,
        1.0177176620316852,
        1.0951076193200653
    ],
    "scale": [
        0.08,
        0.08,
        0.08
    ],
    "target_pose": [
        [
            [
                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_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                1.000429649370792
            ],
            [
                0.0,
                0.0,
                1.0,
                0.45946813468982284
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                1.000429649370792
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                0.45946813468982284
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                1.000429649370792
            ],
            [
                0.0,
                0.0,
                1.0,
                -0.45946813468982284
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                0.0,
                1.2246467991473532e-16,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                1.000429649370792
            ],
            [
                -1.2246467991473532e-16,
                0.0,
                -1.0,
                -0.45946813468982284
            ],
            [
                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,
                0.0
            ],
            [
                0.0,
                1.0,
                6.123233995736766e-17,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0,
            1
        ],
        [
            2,
            3
        ]
    ],
    "contact_points_mask": [
        true,
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the container.",
        "Grasping the side of the container.",
        "Grasping the side of the container.",
        "Grasping the side of the container."
    ],
    "target_point_discription": [
        "The center point on the bottom of the container."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ],
    "stable": true
}