File size: 1,691 Bytes
896c007 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 | {
"center": [0.0, 0.0, 0.061],
"extents": [0.17, 0.245, 0.122],
"scale": [1.091769115637405, 1.016666689390938, 1.0046028114837278],
"target_pose": [
[
[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]
]
],
"contact_points_pose": [
[
[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]
]
],
"transform_matrix": [
[-1.0, 0.0, 0.0, -2.529771588468797e-05],
[0.0, 0.0, 1.0, 5.520094733456144e-06],
[0.0, 1.0, 0.0, 0.061337697821456394],
[0.0, 0.0, 0.0, 1.0]
],
"functional_matrix": [
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
],
"orientation_point": [
[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]
],
"contact_points_group": [[0]],
"contact_points_mask": [true],
"contact_points_discription": [
"Provisional grasp/contact reference at the canonical basket bottom-center origin."
],
"target_point_discription": [
"Provisional target reference at the canonical basket bottom-center origin."
],
"functional_point_discription": [
"Draft basket metadata with canonical frame fixed to x = width 17 cm, y = length 24.5 cm, z = height 12.2 cm, and the local origin at the center of the bottom face."
],
"stable": false,
"source": "Draft metadata generated from basket visual mesh bbox plus user-confirmed physical size 24.5 x 17 x 12.2 cm. Canonical frame uses x = width, y = length, z = height, and the local origin is the center of the bottom face."
}
|