| { | |
| "center": [ | |
| 2.83233071337692e-05, | |
| 0.04985783561682593, | |
| -1.5585987028692977e-05 | |
| ], | |
| "extents": [ | |
| 0.14547638428347773, | |
| 0.10195402506507217, | |
| 0.1454766275163957 | |
| ], | |
| "scale": [ | |
| 0.7, | |
| 0.7, | |
| 0.7 | |
| ], | |
| "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": [ | |
| [ | |
| [ | |
| 0.01351999957114458, | |
| 0.007910000160336494, | |
| 0.9998800158500671, | |
| 0.0 | |
| ], | |
| [ | |
| 0.9999099969863892, | |
| -0.00011000000085914508, | |
| -0.01351999957114458, | |
| 0.05276999995112419 | |
| ], | |
| [ | |
| 0.0, | |
| 0.999970018863678, | |
| -0.007910000160336494, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.01351999957114458, | |
| 0.9998800158500671, | |
| -0.007910000160336494, | |
| 0.0 | |
| ], | |
| [ | |
| 0.9999099969863892, | |
| -0.01351999957114458, | |
| 0.00011000000085914508, | |
| 0.05276999995112419 | |
| ], | |
| [ | |
| 0.0, | |
| -0.007910000160336494, | |
| -0.999970018863678, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.01351999957114458, | |
| -0.007910000160336494, | |
| -0.9998800158500671, | |
| 0.0 | |
| ], | |
| [ | |
| 0.9999099969863892, | |
| 0.00011000000085914508, | |
| 0.01351999957114458, | |
| 0.05276999995112419 | |
| ], | |
| [ | |
| 0.0, | |
| -0.999970018863678, | |
| 0.007910000160336494, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.01351999957114458, | |
| -0.9998800158500671, | |
| 0.007910000160336494, | |
| 0.0 | |
| ], | |
| [ | |
| 0.9999099969863892, | |
| 0.01351999957114458, | |
| -0.00011000000085914508, | |
| 0.05276999995112419 | |
| ], | |
| [ | |
| 0.0, | |
| 0.007910000160336494, | |
| 0.999970018863678, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.05056000128388405 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| [ | |
| -0.0, | |
| 1.0, | |
| -0.0, | |
| 0.05056000128388405 | |
| ], | |
| [ | |
| -1.0, | |
| 0.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.05056000128388405 | |
| ], | |
| [ | |
| 0.0, | |
| -0.0, | |
| -1.0, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -0.0, | |
| -0.0, | |
| -1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.05056000128388405 | |
| ], | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| -0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "functional_matrix": [], | |
| "orientation_point": [], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1, | |
| 2, | |
| 3 | |
| ], | |
| [ | |
| 4, | |
| 5, | |
| 6, | |
| 7 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true | |
| ], | |
| "target_point_discription": [], | |
| "contact_points_discription": [], | |
| "functional_point_discription": [], | |
| "orientation_point_discription": [], | |
| "stable": true | |
| } |