| { | |
| "center": [ | |
| 0.0, | |
| -0.00016811525191823935, | |
| 0.0 | |
| ], | |
| "extents": [ | |
| 0.1720472085289657, | |
| 0.0006833084868800526, | |
| 0.10832602018490434 | |
| ], | |
| "scale": [ | |
| 1, | |
| 1, | |
| 1 | |
| ], | |
| "target_pose": [ | |
| [ | |
| [ | |
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| [ | |
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| [ | |
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| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ] | |
| ], | |
| "contact_points_pose": [ | |
| [ | |
| [ | |
| -1.0, | |
| 0.0, | |
| -1.2246467991473532e-16, | |
| 0.04301180213224143 | |
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| [ | |
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| -0.00016811525191823935 | |
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| [ | |
| 1.2246467991473532e-16, | |
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| -0.027081505046226084 | |
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| ], | |
| [ | |
| [ | |
| -1.0, | |
| 1.2246467991473532e-16, | |
| -7.498798913309288e-33, | |
| 0.0 | |
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| [ | |
| 0.0, | |
| 6.123233995736766e-17, | |
| 1.0, | |
| -0.00016811525191823935 | |
| ], | |
| [ | |
| 1.2246467991473532e-16, | |
| 1.0, | |
| -6.123233995736766e-17, | |
| 0.027081505046226084 | |
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| [ | |
| 0.0, | |
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| 0.0, | |
| 1.0 | |
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| ], | |
| [ | |
| [ | |
| -1.0, | |
| 1.2246467991473532e-16, | |
| 7.498798913309288e-33, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 6.123233995736766e-17, | |
| -1.0, | |
| -0.00016811525191823935 | |
| ], | |
| [ | |
| -1.2246467991473532e-16, | |
| -1.0, | |
| -6.123233995736766e-17, | |
| -0.027081505046226084 | |
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| [ | |
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| 1.0 | |
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| ] | |
| ], | |
| "transform_matrix": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
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| [ | |
| 0.0, | |
| 1.0, | |
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| 0.0 | |
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| [ | |
| -0.0, | |
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| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "functional_matrix": [], | |
| "orientation_point": [ | |
| [ | |
| 1.0, | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ], | |
| [ | |
| 0.0, | |
| 1.0, | |
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| 0.00017353899152178697 | |
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| [ | |
| 0.0, | |
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| [ | |
| 0.0, | |
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| ], | |
| "contact_points_group": [ | |
| [ | |
| 0, | |
| 1 | |
| ] | |
| ], | |
| "contact_points_mask": [ | |
| true, | |
| true | |
| ], | |
| "contact_points_discription": [ | |
| "Suction point of the upper right corner to the midpoint by half", | |
| "Grasp on midpoint of the bottom edge", | |
| "Grasp on midpoint of the bottom edge" | |
| ], | |
| "target_point_discription": [ | |
| "Object centroid." | |
| ], | |
| "functional_point_discription": [ | |
| "" | |
| ], | |
| "orientation_point_discription": [ | |
| "OBB +Y reference." | |
| ] | |
| } |