| { | |
| "center": [ | |
| -0.00010391558575713695, | |
| 0.33985053049706676, | |
| 6.878329721449512e-05 | |
| ], | |
| "extents": [ | |
| 1.9526981410892312, | |
| 0.7031186743544642, | |
| 1.9529276560273572 | |
| ], | |
| "scale": [ | |
| 0.1, | |
| 0.1, | |
| 0.1 | |
| ], | |
| "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 | |
| ] | |
| ], | |
| "target_pose": [], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| -0.7056400179862976, | |
| -0.0, | |
| -0.7085700035095215, | |
| -0.4913400113582611 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.673740029335022 | |
| ], | |
| [ | |
| 0.7085700035095215, | |
| -0.0, | |
| -0.7056400179862976, | |
| -0.4429500102996826 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.6922799944877625, | |
| 0.0, | |
| 0.7216299772262573, | |
| -0.4913400113582611 | |
| ], | |
| [ | |
| -0.0, | |
| 1.0, | |
| -0.0, | |
| 0.673740029335022 | |
| ], | |
| [ | |
| -0.7216299772262573, | |
| 0.0, | |
| 0.6922799944877625, | |
| -0.4429500102996826 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -0.647849977016449, | |
| -0.0, | |
| -0.7617700099945068, | |
| 0.3975600004196167 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6480000019073486 | |
| ], | |
| [ | |
| 0.7617700099945068, | |
| -0.0, | |
| -0.647849977016449, | |
| 0.36496999859809875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.649399995803833, | |
| 0.0, | |
| 0.760450005531311, | |
| 0.3975600004196167 | |
| ], | |
| [ | |
| -0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6480000019073486 | |
| ], | |
| [ | |
| -0.760450005531311, | |
| 0.0, | |
| 0.649399995803833, | |
| 0.36496999859809875 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -0.7301999926567078, | |
| 0.0, | |
| 0.6832399964332581, | |
| -0.4107399880886078 | |
| ], | |
| [ | |
| -0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6544299721717834 | |
| ], | |
| [ | |
| -0.6832399964332581, | |
| -0.0, | |
| -0.7301999926567078, | |
| 0.41668999195098877 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.7238399982452393, | |
| -0.0, | |
| -0.6899700164794922, | |
| -0.4107399880886078 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6544299721717834 | |
| ], | |
| [ | |
| 0.6899700164794922, | |
| 0.0, | |
| 0.7238399982452393, | |
| 0.41668999195098877 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.7830899953842163, | |
| -0.0, | |
| -0.6219000220298767, | |
| 0.42699000239372253 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6894299983978271 | |
| ], | |
| [ | |
| 0.6219000220298767, | |
| 0.0, | |
| 0.7830899953842163, | |
| -0.3674499988555908 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| -0.7892199754714966, | |
| 0.0, | |
| 0.614109992980957, | |
| 0.42699000239372253 | |
| ], | |
| [ | |
| -0.0, | |
| 1.0, | |
| -0.0, | |
| 0.6894299983978271 | |
| ], | |
| [ | |
| -0.614109992980957, | |
| -0.0, | |
| -0.7892199754714966, | |
| -0.3674499988555908 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "functional_matrix": [ | |
| [ | |
| [ | |
| 0.7071099877357483, | |
| 0.7071099877357483, | |
| -0.0, | |
| 0.0017800000496208668 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| -0.0 | |
| ], | |
| [ | |
| 0.7071099877357483, | |
| -0.7071099877357483, | |
| -0.0, | |
| -0.3242200016975403 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| [ | |
| [ | |
| 0.7071099877357483, | |
| 0.7071099877357483, | |
| -0.0, | |
| 0.004619999788701534 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.7071099877357483, | |
| -0.7071099877357483, | |
| -0.0, | |
| 0.37915000319480896 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "orientation_point": [], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1 | |
| ], | |
| [ | |
| 2, | |
| 3 | |
| ], | |
| [ | |
| 4, | |
| 5 | |
| ], | |
| [ | |
| 6, | |
| 7 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true, | |
| true, | |
| true | |
| ], | |
| "target_point_discription": [], | |
| "contact_points_discription": [], | |
| "functional_point_discription": [], | |
| "orientation_point_discription": [], | |
| "stable": true | |
| } |