235 lines
4.4 KiB
JSON
235 lines
4.4 KiB
JSON
{
|
|
"center": [
|
|
0.007383231776756427,
|
|
0.006427797381892685,
|
|
0.0004553532670044226
|
|
],
|
|
"extents": [
|
|
2.5715507232782127,
|
|
1.0663291145000318,
|
|
2.5587689112503096
|
|
],
|
|
"scale": [
|
|
0.049,
|
|
0.049,
|
|
0.049
|
|
],
|
|
"target_pose": [
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
-0.5331645572500159
|
|
],
|
|
[
|
|
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,
|
|
0.5331645572500159
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
1.215415232843897
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
-1.0,
|
|
0.0,
|
|
1.2246467991473532e-16,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5331645572500159
|
|
],
|
|
[
|
|
-1.2246467991473532e-16,
|
|
0.0,
|
|
-1.0,
|
|
1.215415232843897
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5331645572500159
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
-1.215415232843897
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
-1.0,
|
|
0.0,
|
|
1.2246467991473532e-16,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.5331645572500159
|
|
],
|
|
[
|
|
-1.2246467991473532e-16,
|
|
0.0,
|
|
-1.0,
|
|
-1.215415232843897
|
|
],
|
|
[
|
|
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,
|
|
-0.5331645572500159
|
|
],
|
|
[
|
|
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": [
|
|
""
|
|
]
|
|
} |