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{
"center": [
1.1124276707721084e-16,
0.07359927428680288,
-8.558756869537667e-09
],
"extents": [
0.14719890510160538,
0.19665762109662338,
0.14719854857360673
],
"scale": [
0.004,
0.004,
0.004
],
"contact_points_pose": [
[
[
-1.0,
1.2246467991473532e-16,
1.4997597826618576e-32,
2.403561242065095e-16
],
[
1.2246467991473532e-16,
1.0,
1.2246467991473532e-16,
0.14719854857360576
],
[
0.0,
1.2246467991473532e-16,
-1.0,
-1.7117513744652586e-08
],
[
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,
1.2246467991473532e-16,
1.4997597826618576e-32,
2.403561242065095e-16
],
[
1.2246467991473532e-16,
1.0,
1.2246467991473532e-16,
0.14719854857360576
],
[
0.0,
1.2246467991473532e-16,
-1.0,
-1.7117513744652586e-08
],
[
0.0,
0.0,
0.0,
1.0
]
],
"contact_points_group": [],
"contact_points_mask": [],
"contact_points_discription": [],
"target_point_discription": [
"Grasp pose at the top edge center."
],
"functional_point_discription": [
""
],
"orientation_point_discription": [
"Grasp pose with adjustable offset and rotation."
]
} |