File size: 2,643 Bytes
12ffe7d
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
{
    "scale": 0.1,
    "transform_matrix": [
        [
            0.7799903154373169,
            0.6257882118225098,
            -0.0020565849263221025,
            0
        ],
        [
            -0.6257750988006592,
            0.7799893617630005,
            0.004707543179392815,
            0
        ],
        [
            0.004550039768218994,
            -0.0023848789278417826,
            0.9999868273735046,
            0.04536833614110947
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "init_qpos": [
        0.00017510248289909214,
        2.5893196919923867e-08
    ],
    "target_points": [],
    "contact_points": [
        {
            "matrix": [
                [
                    -0.023099999874830246,
                    0.0008200000156648457,
                    -0.9997299909591675,
                    -0.00015999999595806003
                ],
                [
                    -0.00039999998989515007,
                    1.0,
                    0.0008299999753944576,
                    0.5920500159263611
                ],
                [
                    0.9997299909591675,
                    0.00041000000783242285,
                    -0.023099999874830246,
                    -0.03790999948978424
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        }
    ],
    "functional_points": [
        {
            "matrix": [
                [
                    0.035280000418424606,
                    -0.9991099834442139,
                    0.023010000586509705,
                    -0.0015800000401213765
                ],
                [
                    0.7476599812507629,
                    0.011110000312328339,
                    -0.6639900207519531,
                    0.21916000545024872
                ],
                [
                    0.6631500124931335,
                    0.040630001574754715,
                    0.7473899722099304,
                    0.7495999932289124
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_2"
        }
    ],
    "orientation_point": [],
    "contact_points_group": [],
    "contact_points_mask": [],
    "target_points_discription": [],
    "contact_points_discription": [],
    "functional_points_discription": [],
    "orientation_point_discription": []
}