235 lines
4.4 KiB
JSON
235 lines
4.4 KiB
JSON
{
|
|
"center": [
|
|
-7.73711859633523e-05,
|
|
-0.0006792410330051096,
|
|
2.1884144453476266e-05
|
|
],
|
|
"extents": [
|
|
0.9524332632259895,
|
|
1.0000944370938694,
|
|
0.9523442353294028
|
|
],
|
|
"scale": [
|
|
0.11,
|
|
0.11,
|
|
0.11
|
|
],
|
|
"target_pose": [
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
-0.5000472185469347
|
|
],
|
|
[
|
|
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,
|
|
0.5000472185469347
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.333320482365291
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
-1.0,
|
|
0.0,
|
|
1.2246467991473532e-16,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5000472185469347
|
|
],
|
|
[
|
|
-1.2246467991473532e-16,
|
|
0.0,
|
|
-1.0,
|
|
0.333320482365291
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5000472185469347
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
-0.333320482365291
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
-1.0,
|
|
0.0,
|
|
1.2246467991473532e-16,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5000472185469347
|
|
],
|
|
[
|
|
-1.2246467991473532e-16,
|
|
0.0,
|
|
-1.0,
|
|
-0.333320482365291
|
|
],
|
|
[
|
|
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,
|
|
-0.5000472185469347
|
|
],
|
|
[
|
|
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": [
|
|
""
|
|
]
|
|
} |