| { | |
| "center": [ | |
| 0.01721327439781039, | |
| -0.014109811024843376, | |
| 0.0040311555746205124 | |
| ], | |
| "extents": [ | |
| 0.6535197574538718, | |
| 0.9261604056346142, | |
| 1.9258672687007024 | |
| ], | |
| "scale": [ | |
| 0.1, | |
| 0.1, | |
| 0.1 | |
| ], | |
| "target_pose": [ | |
| [ | |
| [ | |
| 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 | |
| ] | |
| ] | |
| ], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| 6.123233995736766e-17, | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| -1.0, | |
| 0.0, | |
| 6.123233995736766e-17, | |
| -0.2 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 6.123233995736766e-17, | |
| 0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 1.0, | |
| 0.0, | |
| 6.123233995736766e-17, | |
| -0.2 | |
| ], | |
| [ | |
| 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, | |
| 0.05 | |
| ], | |
| [ | |
| 0.0, | |
| -1.0, | |
| 6.123233995736766e-17, | |
| 0.4 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "orientation_point": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.4630802028173071 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true | |
| ], | |
| "contact_points_discription": [ | |
| "Grasping the side of the shoe.", | |
| "Grasping the side of the shoe." | |
| ], | |
| "target_point_discription": [ | |
| "The center of the object." | |
| ], | |
| "functional_point_discription": [ | |
| "" | |
| ], | |
| "orientation_point_discription": [ | |
| "" | |
| ] | |
| } |