| { |
| "center": [ |
| -0.002382030388980383, |
| 0.047954217310709216, |
| -0.14811597562402742 |
| ], |
| "extents": [ |
| 0.133843028759591, |
| 0.13199282088810027, |
| 0.530750415103979 |
| ], |
| "scale": [ |
| 1.0, |
| 1.0, |
| 1.0 |
| ], |
| "target_pose": [ |
| [ |
| [ |
| 6.123233995736766e-17, |
| 6.123233995736766e-17, |
| 1.0, |
| 0.0 |
| ], |
| [ |
| -1.0, |
| 3.749399456654644e-33, |
| 6.123233995736766e-17, |
| 0.045 |
| ], |
| [ |
| 0.0, |
| -1.0, |
| 6.123233995736766e-17, |
| -0.45 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ] |
| ], |
| "contact_points_pose": [ |
| [ |
| [ |
| 6.123233995736766e-17, |
| -6.123233995736766e-17, |
| -1.0, |
| -0.035 |
| ], |
| [ |
| 1.0, |
| 3.749399456654644e-33, |
| 6.123233995736766e-17, |
| 0.045 |
| ], |
| [ |
| 0.0, |
| -1.0, |
| 6.123233995736766e-17, |
| -0.5 |
| ], |
| [ |
| 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": [], |
| "orientation_point": [ |
| [ |
| 1.0, |
| 0.0, |
| 0.0, |
| -0.0533792786507395 |
| ], |
| [ |
| 0.0, |
| 1.0, |
| 0.0, |
| 0.006064180689306108 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 1.0, |
| -0.1479379501046653 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "contact_points_group": [ |
| [ |
| 0 |
| ] |
| ], |
| "contact_points_mask": [ |
| true |
| ], |
| "contact_points_discription": [ |
| "Single contact at CONTACT_POS." |
| ], |
| "target_point_discription": [ |
| "User-defined target at TARGET_POS." |
| ], |
| "functional_point_discription": [ |
| "" |
| ], |
| "orientation_point_discription": [ |
| "OBB +Y reference." |
| ] |
| } |
