146 lines
2.1 KiB
JSON
146 lines
2.1 KiB
JSON
{
|
|
"center": [
|
|
0.10304653603294932,
|
|
6.499811149640381e-05,
|
|
0.09037550707452342
|
|
],
|
|
"extents": [
|
|
2.0441012075025142,
|
|
1.3955622807090002,
|
|
2.209916901860697
|
|
],
|
|
"scale": [
|
|
0.08,
|
|
0.08,
|
|
0.08
|
|
],
|
|
"target_pose": [
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.2
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
-0.6
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"contact_pose": [[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.65
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.95
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.65
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.65
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.28
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.2
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
-0.6
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
]],
|
|
"trans_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
|
|
]
|
|
]
|
|
} |