| { | |
| "scale": 0.1, | |
| "transform_matrix": [ | |
| [ | |
| 0.7799903154373169, | |
| 0.6257882118225098, | |
| -0.0020565849263221025, | |
| 0 | |
| ], | |
| [ | |
| -0.6257750988006592, | |
| 0.7799893617630005, | |
| 0.004707543179392815, | |
| 0 | |
| ], | |
| [ | |
| 0.004550039768218994, | |
| -0.0023848789278417826, | |
| 0.9999868273735046, | |
| 0.04536833614110947 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "init_qpos": [ | |
| 0.00017510248289909214, | |
| 2.5893196919923867e-08 | |
| ], | |
| "target_points": [], | |
| "contact_points": [ | |
| { | |
| "matrix": [ | |
| [ | |
| -0.023099999874830246, | |
| 0.0008200000156648457, | |
| -0.9997299909591675, | |
| -0.00015999999595806003 | |
| ], | |
| [ | |
| -0.00039999998989515007, | |
| 1.0, | |
| 0.0008299999753944576, | |
| 0.5920500159263611 | |
| ], | |
| [ | |
| 0.9997299909591675, | |
| 0.00041000000783242285, | |
| -0.023099999874830246, | |
| -0.03790999948978424 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "base": "link_1" | |
| } | |
| ], | |
| "functional_points": [ | |
| { | |
| "matrix": [ | |
| [ | |
| 0.035280000418424606, | |
| -0.9991099834442139, | |
| 0.023010000586509705, | |
| -0.0015800000401213765 | |
| ], | |
| [ | |
| 0.7476599812507629, | |
| 0.011110000312328339, | |
| -0.6639900207519531, | |
| 0.21916000545024872 | |
| ], | |
| [ | |
| 0.6631500124931335, | |
| 0.040630001574754715, | |
| 0.7473899722099304, | |
| 0.7495999932289124 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "base": "link_2" | |
| } | |
| ], | |
| "orientation_point": [], | |
| "contact_points_group": [], | |
| "contact_points_mask": [], | |
| "target_points_discription": [], | |
| "contact_points_discription": [], | |
| "functional_points_discription": [], | |
| "orientation_point_discription": [] | |
| } |