| { | |
| "center": [ | |
| 0.007383231776756427, | |
| 0.006427797381892685, | |
| 0.0004553532670044226 | |
| ], | |
| "extents": [ | |
| 2.5715507232782127, | |
| 1.0663291145000318, | |
| 2.5587689112503096 | |
| ], | |
| "scale": [ | |
| 0.049, | |
| 0.049, | |
| 0.049 | |
| ], | |
| "target_pose": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
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| [ | |
| 0.0, | |
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| [ | |
| 0.0, | |
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| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
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| [ | |
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| 0.5331645572500159 | |
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| [ | |
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| [ | |
| 0.0, | |
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| 1.0 | |
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| ], | |
| [ | |
| [ | |
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| 1.2246467991473532e-16, | |
| 0.0 | |
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| [ | |
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| 1.0, | |
| -1.215415232843897 | |
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| [ | |
| 0.0, | |
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| 1.0 | |
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| [ | |
| [ | |
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| [ | |
| -1.2246467991473532e-16, | |
| 0.0, | |
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| [ | |
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| 1.0 | |
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| ] | |
| ], | |
| "transform_matrix": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
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| [ | |
| 0.0, | |
| 1.0, | |
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| [ | |
| -0.0, | |
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| [ | |
| 0.0, | |
| 0.0, | |
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| 1.0 | |
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| ], | |
| "functional_matrix": [ | |
| [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 6.123233995736766e-17, | |
| -1.0, | |
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| 6.123233995736766e-17, | |
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| [ | |
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| 1.0 | |
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| ], | |
| "orientation_point": [], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1 | |
| ], | |
| [ | |
| 2, | |
| 3 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true | |
| ], | |
| "contact_points_discription": [ | |
| "Grasping the side of the container.", | |
| "Grasping the side of the container.", | |
| "Grasping the side of the container.", | |
| "Grasping the side of the container." | |
| ], | |
| "target_point_discription": [ | |
| "The center point on the bottom of the container." | |
| ], | |
| "functional_point_discription": [ | |
| "" | |
| ], | |
| "orientation_point_discription": [ | |
| "" | |
| ] | |
| } |