| { | |
| "center": [0.0, 0.0, 0.0], | |
| "extents": [0.05, 0.05, 0.05], | |
| "scale": [1.0, 1.0, 1.0], | |
| "target_pose": [ | |
| [ | |
| [1.0, 0.0, 0.0, 0.0], | |
| [0.0, 1.0, 0.0, 0.0], | |
| [0.0, 0.0, 1.0, 0.025], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ] | |
| ], | |
| "contact_points_pose": [ | |
| [ | |
| [0.0, 0.0, 1.0, 0.0], | |
| [1.0, 0.0, 0.0, 0.0], | |
| [0.0, 1.0, 0.0, 0.0], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ], | |
| [ | |
| [1.0, 0.0, 0.0, 0.0], | |
| [0.0, 0.0, -1.0, 0.0], | |
| [0.0, 1.0, 0.0, 0.0], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ], | |
| [ | |
| [-1.0, 0.0, 0.0, 0.0], | |
| [0.0, 0.0, 1.0, 0.0], | |
| [0.0, 1.0, 0.0, 0.0], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ], | |
| [ | |
| [0.0, 0.0, -1.0, 0.0], | |
| [-1.0, 0.0, 0.0, 0.0], | |
| [0.0, 1.0, 0.0, 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, -0.025], | |
| [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, 0.025], | |
| [0.0, 0.0, 0.0, 1.0] | |
| ] | |
| ], | |
| "contact_points_description": [], | |
| "contact_points_group": [[0, 1, 2, 3]], | |
| "contact_points_mask": [true, true], | |
| "target_point_description": ["The center point on the top face of the 5cm block."], | |
| "functional_point_description": [ | |
| "Point 0: center of the bottom face.", | |
| "Point 1: center of the top face." | |
| ], | |
| "stable": true, | |
| "source": "Derived from CycleManip create_box(half_size=(0.025,0.025,0.025)) used by beat_block_hammer_loop / beat_block_hammer_dynamic." | |
| } | |