2024-12-04 16:07:44 +08:00
|
|
|
|
|
|
|
|
center: [0.45, 0.0, 0.0]
|
|
|
|
|
q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
|
|
|
|
|
objects:
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/blender/blender_cabinet_001
|
|
|
|
|
xyz: [8.083879947662354e-07, 1.8253922462463379e-06, 0.0]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [89.99999517032747, 1.7454502628865503e-05, -6.485084839966737e-08]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/biscuit/biscuit_127
|
|
|
|
|
xyz: [-0.23691001534461975, -0.10961029678583145, 0.4562811851501465]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [-0.6538933046633323, -13.78051498818201, -94.90911419985432]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/bottle/bottle_055
|
|
|
|
|
xyz: [0.39984244108200073, 0.23699530959129333, 0.49100542068481445]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [10.223133156014372, 2.122023299357297, -90.65938140785802]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/lemon/lemon_033
|
|
|
|
|
xyz: [0.44625869393348694, -0.07684177160263062, 0.47564658522605896]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [-7.863478828363514, -10.820709311402275, -86.3442447460727]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/walnut/walnut_037
|
|
|
|
|
xyz: [0.10427562892436981, 0.018900781869888306, 0.45815157890319824]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [-3.728891749529174, 6.331539687075882, -89.31607187934011]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/corn/corn_032
|
|
|
|
|
xyz: [0.016410425305366516, 0.1121116578578949, 0.4736463725566864]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [-50.15197541967585, -1.7003816171233315, -92.2104404471744]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/banana/banana_039
|
|
|
|
|
xyz: [-0.570878267288208, -0.09831807762384415, 0.4693850874900818]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [89.96649205411292, 70.64322032925077, -107.10490741743996]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
|
|
|
|
|
|
|
|
|
- object_id: active_perception/omni_objects/walnut/walnut_038
|
|
|
|
|
xyz: [0.495231956243515, 0.18992017209529877, 0.4555791914463043]
|
2024-12-20 15:28:39 +08:00
|
|
|
rpy: [139.27422512548887, -2.505459501910719, -92.55005002859521]
|
2024-12-04 16:07:44 +08:00
|
|
|
scale: 1.0
|
