| { | |
| "center": [ | |
| 0.0006142559542237162, | |
| 0.29955836489572896, | |
| 0.0008696019891576376 | |
| ], | |
| "extents": [ | |
| 1.206231103674435, | |
| 0.6470754162947441, | |
| 1.9380270086824511 | |
| ], | |
| "scale": [ | |
| 0.04, | |
| 0.04, | |
| 0.04 | |
| ], | |
| "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 | |
| ] | |
| ], | |
| "target_pose": [], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.013799999840557575 | |
| ], | |
| [ | |
| 0.001180000021122396, | |
| 1.0, | |
| -0.0, | |
| 0.4407599866390228 | |
| ], | |
| [ | |
| -1.0, | |
| 0.001180000021122396, | |
| 0.0, | |
| 0.0957299992442131 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0, | |
| -0.0, | |
| -1.0, | |
| 0.007780000101774931 | |
| ], | |
| [ | |
| -0.001180000021122396, | |
| 1.0, | |
| -0.0, | |
| 0.4059799909591675 | |
| ], | |
| [ | |
| 1.0, | |
| 0.001180000021122396, | |
| 0.0, | |
| 0.06789000332355499 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.0, | |
| -0.0, | |
| -1.0, | |
| 0.013799999840557575 | |
| ], | |
| [ | |
| -0.001180000021122396, | |
| 1.0, | |
| -0.0, | |
| 0.4407599866390228 | |
| ], | |
| [ | |
| 1.0, | |
| 0.001180000021122396, | |
| 0.0, | |
| 0.0957299992442131 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "functional_matrix": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "orientation_point": [], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ], | |
| [ | |
| 0, | |
| 2, | |
| 3, | |
| 4 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true | |
| ], | |
| "target_point_discription": [], | |
| "contact_points_discription": [], | |
| "functional_point_discription": [], | |
| "orientation_point_discription": [], | |
| "stable": true | |
| } |