| { | |
| "center": [ | |
| -0.40601759311239366, | |
| 0.28366884253412383, | |
| 0.3276953210980743 | |
| ], | |
| "extents": [ | |
| 1.134727330983018, | |
| 0.602159507940712, | |
| 1.2686083232880314 | |
| ], | |
| "scale": [ | |
| 0.08, | |
| 0.08, | |
| 0.08 | |
| ], | |
| "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": [ | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| -0.9997900128364563, | |
| 0.0017600000137463212, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| 0.001509999972768128, | |
| 0.9999200105667114, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| -0.02054000087082386, | |
| -0.012179999612271786, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| 0.9997599720954895, | |
| -0.0024800000246614218, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| -0.0023399998899549246, | |
| -0.9999799728393555, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| 0.021880000829696655, | |
| 0.00610999995842576, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| -0.7057099938392639, | |
| 0.7081999778747559, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| 0.7081199884414673, | |
| 0.7059900164604187, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| -0.02314000017940998, | |
| 0.005909999832510948, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| 0.0017600000137463212, | |
| 0.9997900128364563, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| 0.9999200105667114, | |
| -0.001509999972768128, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| -0.012179999612271786, | |
| 0.02054000087082386, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| 0.7081999778747559, | |
| 0.7057099938392639, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| 0.7059900164604187, | |
| -0.7081199884414673, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| 0.005909999832510948, | |
| 0.02314000017940998, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| 0.9997900128364563, | |
| -0.0017600000137463212, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| -0.001509999972768128, | |
| -0.9999200105667114, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| 0.02054000087082386, | |
| 0.012179999612271786, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| 0.7057099938392639, | |
| -0.7081999778747559, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| -0.7081199884414673, | |
| -0.7059900164604187, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| 0.02314000017940998, | |
| -0.005909999832510948, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| -0.0017600000137463212, | |
| -0.9997900128364563, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| -0.9999200105667114, | |
| 0.001509999972768128, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| 0.012179999612271786, | |
| -0.02054000087082386, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.020519999787211418, | |
| -0.7081999778747559, | |
| -0.7057099938392639, | |
| -0.005169999785721302 | |
| ], | |
| [ | |
| -0.012210000306367874, | |
| -0.7059900164604187, | |
| 0.7081199884414673, | |
| 0.29569000005722046 | |
| ], | |
| [ | |
| -0.9997199773788452, | |
| -0.005909999832510948, | |
| -0.02314000017940998, | |
| 0.029659999534487724 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| 0.7051799893379211, | |
| -0.7086899876594543, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| -0.7087500095367432, | |
| -0.7054399847984314, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| 0.01979999989271164, | |
| -0.011149999685585499, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| -0.0024800000246614218, | |
| -0.9997599720954895, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| -0.9999799728393555, | |
| 0.0023399998899549246, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| 0.00610999995842576, | |
| -0.021880000829696655, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| -0.7086899876594543, | |
| -0.7051799893379211, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| -0.7054299712181091, | |
| 0.7087500095367432, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| -0.011149999685585499, | |
| -0.01979999989271164, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| -0.9997599720954895, | |
| 0.0024800000246614218, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| 0.0023399998899549246, | |
| 0.9999799728393555, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| -0.021880000829696655, | |
| -0.00610999995842576, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| -0.7051799893379211, | |
| 0.7086899876594543, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| 0.7087500095367432, | |
| 0.7054299712181091, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| -0.01979999989271164, | |
| 0.011149999685585499, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| 0.0024800000246614218, | |
| 0.9997599720954895, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| 0.9999799728393555, | |
| -0.0023399998899549246, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| -0.00610999995842576, | |
| 0.021880000829696655, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.021870000287890434, | |
| 0.7086899876594543, | |
| 0.7051799893379211, | |
| -0.006459999829530716 | |
| ], | |
| [ | |
| -0.006169999949634075, | |
| 0.7054299712181091, | |
| -0.7087500095367432, | |
| 0.31396999955177307 | |
| ], | |
| [ | |
| -0.9997400045394897, | |
| 0.011149999685585499, | |
| 0.01979999989271164, | |
| 0.6468899846076965 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "functional_matrix": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.26798999309539795 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.9608299732208252 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "orientation_point": [], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 2, | |
| 3, | |
| 4, | |
| 5, | |
| 6, | |
| 7, | |
| 8 | |
| ], | |
| [ | |
| 1, | |
| 9, | |
| 10, | |
| 11, | |
| 12, | |
| 13, | |
| 14, | |
| 15 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true | |
| ], | |
| "target_point_discription": [], | |
| "contact_points_discription": [], | |
| "functional_point_discription": [], | |
| "orientation_point_discription": [], | |
| "stable": false | |
| } |