| { |
| "center": [ |
| 1.1124276707721084e-16, |
| 0.07359927428680288, |
| -8.558756869537667e-09 |
| ], |
| "extents": [ |
| 0.14719890510160538, |
| 0.19665762109662338, |
| 0.14719854857360673 |
| ], |
| "scale": [ |
| 0.004, |
| 0.004, |
| 0.004 |
| ], |
| "contact_points_pose": [ |
| [ |
| [ |
| -1.0, |
| 1.2246467991473532e-16, |
| 1.4997597826618576e-32, |
| 2.403561242065095e-16 |
| ], |
| [ |
| 1.2246467991473532e-16, |
| 1.0, |
| 1.2246467991473532e-16, |
| 0.14719854857360576 |
| ], |
| [ |
| 0.0, |
| 1.2246467991473532e-16, |
| -1.0, |
| -1.7117513744652586e-08 |
| ], |
| [ |
| 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, |
| 1.2246467991473532e-16, |
| 1.4997597826618576e-32, |
| 2.403561242065095e-16 |
| ], |
| [ |
| 1.2246467991473532e-16, |
| 1.0, |
| 1.2246467991473532e-16, |
| 0.14719854857360576 |
| ], |
| [ |
| 0.0, |
| 1.2246467991473532e-16, |
| -1.0, |
| -1.7117513744652586e-08 |
| ], |
| [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ] |
| ], |
| "contact_points_group": [], |
| "contact_points_mask": [], |
| "contact_points_discription": [], |
| "target_point_discription": [ |
| "Grasp pose at the top edge center." |
| ], |
| "functional_point_discription": [ |
| "" |
| ], |
| "orientation_point_discription": [ |
| "Grasp pose with adjustable offset and rotation." |
| ] |
| } |
