170 lines
3.2 KiB
JSON
170 lines
3.2 KiB
JSON
{
|
|
"center": [
|
|
-0.003247481392606047,
|
|
0.08859923551573057,
|
|
-0.10570571998224718
|
|
],
|
|
"extents": [
|
|
0.3389972394888756,
|
|
2.217905187168237,
|
|
1.6975571233870579
|
|
],
|
|
"scale": [
|
|
0.079,
|
|
0.079,
|
|
0.079
|
|
],
|
|
"target_pose": [
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.8
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.65
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
]
|
|
],
|
|
"contact_points_pose": [
|
|
[
|
|
[
|
|
0.0007963267107332633,
|
|
-0.0007963264582434141,
|
|
-0.9999993658637698,
|
|
0.0
|
|
],
|
|
[
|
|
0.9999996829318346,
|
|
6.341362302272584e-07,
|
|
0.0007963264582434141,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
-0.9999996829318346,
|
|
0.0007963267107332633,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
]
|
|
],
|
|
"transform_matrix": [
|
|
[
|
|
0.0007963267107332633,
|
|
-0.0007963264582434141,
|
|
-0.9999993658637698,
|
|
0.0
|
|
],
|
|
[
|
|
0.9999996829318346,
|
|
6.341362302272584e-07,
|
|
0.0007963264582434141,
|
|
0.0
|
|
],
|
|
[
|
|
-0.0,
|
|
-0.9999996829318346,
|
|
0.0007963267107332633,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"functional_matrix": [
|
|
[
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.8
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.65
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
]
|
|
],
|
|
"orientation_point": [
|
|
[
|
|
1.0,
|
|
0.0,
|
|
0.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
1.0,
|
|
0.0,
|
|
0.9589525935841184
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
1.0,
|
|
0.0
|
|
],
|
|
[
|
|
0.0,
|
|
0.0,
|
|
0.0,
|
|
1.0
|
|
]
|
|
],
|
|
"contact_points_group": [
|
|
[
|
|
0
|
|
]
|
|
],
|
|
"contact_points_mask": [
|
|
true
|
|
],
|
|
"contact_points_discription": [
|
|
"Grab the hammer's handle with the head facing outward."
|
|
],
|
|
"target_point_discription": [
|
|
"The center of the object."
|
|
],
|
|
"functional_point_discription": [
|
|
"Point 0: The head of the hammer is facing outward."
|
|
]
|
|
} |