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{
"center": [
0.02495441054302816,
0.04039958576682315,
1.608605873181978e-05
],
"extents": [
0.11410288889507963,
0.08259069446084513,
0.11193267813583267
],
"scale": [
0.04,
0.04,
0.04
],
"target_pose": [
[
[
1.0,
0.0,
0.0,
0.02495441054302816
],
[
0.0,
1.0,
0.0,
0.04039958576682315
],
[
0.0,
0.0,
1.0,
1.608605873181978e-05
],
[
0.0,
0.0,
0.0,
1.0
]
]
],
"contact_points_pose": [
[
[
1.0,
0.0,
0.0,
0.02495441054302816
],
[
0.0,
1.0,
0.0,
0.04039958576682315
],
[
0.0,
0.0,
1.0,
1.608605873181978e-05
],
[
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": [],
"orientation_point": [
[
1.0,
0.0,
0.0,
0.05335633953734738
],
[
0.0,
1.0,
0.0,
0.041464989916579646
],
[
0.0,
0.0,
1.0,
0.029974407878895572
],
[
0.0,
0.0,
0.0,
1.0
]
],
"contact_points_group": [
[
0
]
],
"contact_points_mask": [
true
],
"contact_points_discription": [
"Single contact at OBB centroid (+ offset)."
],
"target_point_discription": [
"Object centroid."
],
"functional_point_discription": [
""
],
"orientation_point_discription": [
"OBB +Y reference."
]
} |