File size: 1,676 Bytes
a27c1d6 | 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 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 | {
"center": [0.0, 0.0, 0.0],
"extents": [0.05, 0.05, 0.05],
"scale": [1.0, 1.0, 1.0],
"target_pose": [
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.025],
[0.0, 0.0, 0.0, 1.0]
]
],
"contact_points_pose": [
[
[0.0, 0.0, 1.0, 0.0],
[1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
],
[
[1.0, 0.0, 0.0, 0.0],
[0.0, 0.0, -1.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
],
[
[-1.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
],
[
[0.0, 0.0, -1.0, 0.0],
[-1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 1.0]
]
],
"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]
],
"functional_matrix": [
[
[1.0, 0.0, 0.0, 0.0],
[0.0, -1.0, 0.0, 0.0],
[0.0, 0.0, -1.0, -0.025],
[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, 0.025],
[0.0, 0.0, 0.0, 1.0]
]
],
"contact_points_description": [],
"contact_points_group": [[0, 1, 2, 3]],
"contact_points_mask": [true, true],
"target_point_description": ["The center point on the top face of the 5cm block."],
"functional_point_description": [
"Point 0: center of the bottom face.",
"Point 1: center of the top face."
],
"stable": true,
"source": "Derived from CycleManip create_box(half_size=(0.025,0.025,0.025)) used by beat_block_hammer_loop / beat_block_hammer_dynamic."
}
|