| { |
| "center": [0.00004202554589091914, 0.0175, -0.000021892027061976805], |
| "extents": [0.037, 0.035, 0.037], |
| "scale": [1.4012323598214689, 1.1666666927436995, 1.3035927833065877], |
| "size_annotation": { |
| "unit": "meter", |
| "axis_order": ["x", "y", "z"], |
| "physical_size_m": [0.037, 0.035, 0.037], |
| "physical_size_cm": [3.7, 3.5, 3.7], |
| "source_bbox_size_m": [0.026405327953398228, 0.029999999329447746, 0.028383096680045128], |
| "source_bbox_size_cm": [2.6405327953398228, 2.9999999329447746, 2.8383096680045128], |
| "scale_from_source_bbox": [1.4012323598214689, 1.1666666927436995, 1.3035927833065877], |
| "semantic_note": "User-confirmed green cube physical size is 3.7 cm x 3.7 cm x 3.5 cm. The current GLB bbox has Y as the vertical axis because the lower bound is Y=0 and the center is at Y=height/2. Stored extents follow metadata axis order X=3.7 cm, Y=height 3.5 cm, Z=3.7 cm." |
| }, |
| "target_pose": [ |
| [ |
| [1.0, 0.0, 0.0, 0.0], |
| [0.0, 1.0, 0.0, 0.0175], |
| [0.0, 0.0, 1.0, 0.0], |
| [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, 0.0175], |
| [0.0, 0.0, 1.0, 0.0], |
| [0.0, 0.0, 0.0, 1.0] |
| ] |
| ], |
| "transform_matrix": [ |
| [1.0, 0.0, 0.0, 0.0], |
| [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": [ |
| [ |
| [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], |
| "target_point_description": [ |
| "Center point on the top face of the green cube." |
| ], |
| "contact_points_description": [ |
| "Provisional grasp/contact reference at the center point on the top face of the green cube." |
| ], |
| "functional_point_description": [ |
| "Draft upright green-cube frame. Y is treated as the vertical axis; the top-face center is at local Y = 0.0175 m after scaling." |
| ], |
| "stable": false, |
| "source": "Draft metadata generated from assets/objects/011_green-cube/visual/base0.glb bbox plus user-confirmed physical size 3.7 cm x 3.7 cm x 3.5 cm. Axis mapping is X=width, Y=height, Z=depth based on the GLB bottom-at-Y=0 bounds." |
| } |
|
|
