| { |
| "center": [0.0, 0.0, 0.0375], |
| "extents": [0.115, 0.74, 0.075], |
| "scale": [0.2722798966104581, 0.4029634658687189, 0.42286198542054276], |
| "target_pose": [ |
| [ |
| [1.0, 0.0, 0.0, 0.0], |
| [0.0, 1.0, 0.0, 0.0], |
| [0.0, 0.0, 1.0, 0.075], |
| [0.0, 0.0, 0.0, 1.0] |
| ] |
| ], |
| "contact_points_pose": [ |
| [ |
| [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] |
| ] |
| ], |
| "transform_matrix": [ |
| [-1.0, 0.0, 0.0, 0.0003635856267057822], |
| [0.0, 0.0, 1.0, 0.003044103333422639], |
| [0.0, 1.0, 0.0, 0.03495832691172202], |
| [0.0, 0.0, 0.0, 1.0] |
| ], |
| "functional_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] |
| ], |
| [ |
| [1.0, 0.0, 0.0, 0.0], |
| [0.0, 1.0, 0.0, 0.0], |
| [0.0, 0.0, 1.0, 0.075], |
| [0.0, 0.0, 0.0, 1.0] |
| ], |
| [ |
| [1.0, 0.0, 0.0, 0.0], |
| [0.0, 1.0, 0.0, 0.35], |
| [0.0, 0.0, 1.0, 0.0375], |
| [0.0, 0.0, 0.0, 1.0] |
| ], |
| [ |
| [1.0, 0.0, 0.0, 0.0], |
| [0.0, 1.0, 0.0, -0.35], |
| [0.0, 0.0, 1.0, 0.0375], |
| [0.0, 0.0, 0.0, 1.0] |
| ] |
| ], |
| "orientation_point": [ |
| [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] |
| ], |
| "contact_points_group": [[0]], |
| "contact_points_mask": [true], |
| "contact_points_discription": [ |
| "Provisional grasp/contact reference at the canonical conveyor belt bottom-center origin." |
| ], |
| "target_point_discription": [ |
| "Center point on the canonical top surface of the conveyor belt. The canonical frame uses x = width 11.5 cm, y = length 70 cm, z = height 7.5 cm, and the local origin is the center of the bottom face." |
| ], |
| "functional_point_discription": [ |
| "Point 0: center of the canonical bottom face (local origin).", |
| "Point 1: center of the canonical top face.", |
| "Point 2: center of the +Y end face at mid-height, following the canonical length direction.", |
| "Point 3: center of the -Y end face at mid-height, opposite the canonical length direction." |
| ], |
| "stable": false, |
| "source": "Draft metadata generated from conveyer_belt visual mesh bbox plus user-confirmed physical size 70 x 11.5 x 7.5 cm. Canonical frame uses x = width, y = length, z = height, and the local origin is the center of the bottom face." |
| } |
|
|
