| { | |
| "contact_points": [ | |
| { | |
| "id": [0, 1, 2, 3], | |
| "description": "On the upper part of the box", | |
| "usage": "Used to grasp the box with the left arm." | |
| }, | |
| { | |
| "id": [4, 5, 6, 7], | |
| "description": "On the lower part of the box", | |
| "usage": "Used to handover the box with the right arm." | |
| } | |
| ], | |
| "functional_points": [ | |
| { | |
| "id": 0, | |
| "description": "On the bottom of the block", | |
| "usage": "Used to place the block on table or other surfaces." | |
| }, | |
| { | |
| "id": 1, | |
| "description": "On the top of the block", | |
| "usage": "Used to indicate the position of other objects when they come into contact with the block." | |
| } | |
| ] | |
| } |