File size: 5,553 Bytes
c4196b2
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
{
    "uuid": "9c99c626-94f5-4d8b-8a3a-7868a2f585e1",
    "geometry": {
        "faces": 40128,
        "vertices": 22549,
        "aligned_bbox": {
            "vertices": [
                [
                    -0.1285,
                    -0.0324,
                    0.0
                ],
                [
                    -0.1285,
                    -0.0324,
                    0.0653
                ],
                [
                    -0.1285,
                    0.0324,
                    0.0
                ],
                [
                    -0.1285,
                    0.0324,
                    0.0653
                ],
                [
                    0.1307,
                    -0.0324,
                    0.0
                ],
                [
                    0.1307,
                    -0.0324,
                    0.0653
                ],
                [
                    0.1307,
                    0.0324,
                    0.0
                ],
                [
                    0.1307,
                    0.0324,
                    0.0653
                ]
            ],
            "extents": [
                0.2592,
                0.0648,
                0.0653
            ]
        },
        "oriented_bbox": {
            "vertices": [
                [
                    0.1307,
                    0.0324,
                    -0.0
                ],
                [
                    -0.1285,
                    0.0324,
                    0.0
                ],
                [
                    0.1307,
                    0.0324,
                    0.0653
                ],
                [
                    -0.1285,
                    0.0324,
                    0.0653
                ],
                [
                    0.1307,
                    -0.0324,
                    -0.0
                ],
                [
                    -0.1285,
                    -0.0324,
                    0.0
                ],
                [
                    0.1307,
                    -0.0324,
                    0.0653
                ],
                [
                    -0.1285,
                    -0.0324,
                    0.0653
                ]
            ],
            "extents": [
                0.2592,
                0.0648,
                0.0654
            ]
        },
        "radius": 0.13604328426299783,
        "bbox": [
            0.2578651198472568,
            0.06445279250534544,
            0.065
        ],
        "center": [
            0.0010745118177682446,
            -7.214395365674703e-19,
            0.0325
        ]
    },
    "active": {
        "place": {
            "up": {
                "orientation": [
                    1.0,
                    0.0,
                    0.0,
                    0.0
                ],
                "projection_circle": {
                    "center": [
                        0.0013,
                        0.0,
                        0.0,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    "radius": 0.1645
                },
                "contact_circle": {
                    "center": [
                        0.0013,
                        0.0,
                        0.0,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    "radius": 0.164
                }
            }
        },
        "functional": {}
    },
    "physics": {
        "size": [
            0.2578651198472568,
            0.06445279250534544,
            0.065
        ],
        "mass": 0.0,
        "friction": 0.0
    },
    "passive": {
        "functional": {},
        "support": {
            "pole/0": {
                "center": [
                    [
                        -0.096,
                        0.0,
                        0.063,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                ],
                "radius": [
                    0.005
                ]
            },
            "pole/1": {
                "center": [
                    [
                        -0.031,
                        0.0,
                        0.053,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                ],
                "radius": [
                    0.005
                ]
            },
            "pole/2": {
                "center": [
                    [
                        0.033,
                        0.0,
                        0.043,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                ],
                "radius": [
                    0.005
                ]
            },
            "pole/3": {
                "center": [
                    [
                        0.098,
                        0.0,
                        0.028,
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                ],
                "radius": [
                    0.005
                ]
            }
        }
    }
}