| { | |
| "center": [ | |
| -0.021152891622124238, | |
| -0.046617501643916794, | |
| 0.36439309480268756 | |
| ], | |
| "extents": [ | |
| 1.0832623660318477, | |
| 1.2252524190881948, | |
| 0.9945132687006788 | |
| ], | |
| "scale": [ | |
| 0.25, | |
| 0.25, | |
| 0.25 | |
| ], | |
| "target_pose": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| -0.07 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
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| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.35 | |
| ], | |
| [ | |
| 0.0, | |
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| 1.0 | |
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| ], | |
| [ | |
| [ | |
| 1.0, | |
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| [ | |
| 0.0, | |
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| [ | |
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| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| -1.0, | |
| 0.0, | |
| 1.2246467991473532e-16, | |
| 0.2 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.18 | |
| ], | |
| [ | |
| -1.2246467991473532e-16, | |
| 0.0, | |
| -1.0, | |
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| [ | |
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| ] | |
| ], | |
| [ | |
| [ | |
| -1.0, | |
| 0.0, | |
| 1.2246467991473532e-16, | |
| 0.2 | |
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| [ | |
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| 0.18 | |
| ], | |
| [ | |
| -1.2246467991473532e-16, | |
| 0.0, | |
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| 0.48 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "transform_matrix": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
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| [ | |
| -0.0, | |
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| 1.0, | |
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| ], | |
| [ | |
| 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, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 6.123233995736766e-17, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
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| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 6.123233995736766e-17, | |
| 0.0, | |
| -1.0, | |
| 1.0 | |
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| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
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| [ | |
| 1.0, | |
| 0.0, | |
| 6.123233995736766e-17, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "orientation_point": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.6126262095440974 | |
| ], | |
| [ | |
| 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": [ | |
| "Grasping the side of the kettle.", | |
| "Grasping the side of the kettle." | |
| ], | |
| "target_point_discription": [ | |
| "The base of the kettle.", | |
| "The spout of the kettle." | |
| ], | |
| "functional_point_discription": [ | |
| "The functional matrix of the base", | |
| "The functional matrix of the spout" | |
| ], | |
| "orientation_point_discription": [ | |
| "" | |
| ] | |
| } |