File size: 2,359 Bytes
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"center": [0.0, 0.0, 0.0375],
"extents": [0.115, 0.74, 0.075],
"scale": [0.2722798966104581, 0.4029634658687189, 0.42286198542054276],
"target_pose": [
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.075],
[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, 0.0003635856267057822],
[0.0, 0.0, 1.0, 0.003044103333422639],
[0.0, 1.0, 0.0, 0.03495832691172202],
[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]
],
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.075],
[0.0, 0.0, 0.0, 1.0]
],
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.35],
[0.0, 0.0, 1.0, 0.0375],
[0.0, 0.0, 0.0, 1.0]
],
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.35],
[0.0, 0.0, 1.0, 0.0375],
[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 conveyor belt bottom-center origin."
],
"target_point_discription": [
"Center point on the canonical top surface of the conveyor belt. The canonical frame uses x = width 11.5 cm, y = length 70 cm, z = height 7.5 cm, and the local origin is the center of the bottom face."
],
"functional_point_discription": [
"Point 0: center of the canonical bottom face (local origin).",
"Point 1: center of the canonical top face.",
"Point 2: center of the +Y end face at mid-height, following the canonical length direction.",
"Point 3: center of the -Y end face at mid-height, opposite the canonical length direction."
],
"stable": false,
"source": "Draft metadata generated from conveyer_belt visual mesh bbox plus user-confirmed physical size 70 x 11.5 x 7.5 cm. Canonical frame uses x = width, y = length, z = height, and the local origin is the center of the bottom face."
}
|