robotwin/objects/034_knife/model_data0.json

{
    "center": [
        0.00014706707680413436,
        -0.00518529097648603,
        0.0019079088629515557
    ],
    "extents": [
        0.09775587600243035,
        1.4940585339120356,
        0.40469942084235694
    ],
    "scale": [
        0.31,
        0.31,
        0.31
    ],
    "transform_matrix": [
        [
            1.0,
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            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": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
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            ],
            [
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            [
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                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                -0.0,
                -0.0,
                -1.0,
                0.0
            ],
            [
                1.0,
                -0.0,
                -0.0,
                -0.4000000059604645
            ],
            [
                -0.0,
                -1.0,
                0.0,
                -0.10000000149011612
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                0.9987499713897705,
                0.04997999966144562,
                0.30000001192092896
            ],
            [
                0.0,
                -0.04997999966144562,
                0.9987499713897705,
                0.17000000178813934
            ],
            [
                0.0,
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                1.0
            ]
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0
        ]
    ],
    "contact_points_mask": [
        true
    ],
    "target_point_discription": [
        "The center of the object."
    ],
    "contact_points_discription": [
        "Grasping the handle of knife."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        ""
    ],
    "stable": false
}