Szene 11 gerendert
@@ -220,13 +220,13 @@
|
||||
"e": 1
|
||||
},
|
||||
"defaultPosition": {
|
||||
"x": 180,
|
||||
"y": 86,
|
||||
"z": -120,
|
||||
"a": -60,
|
||||
"b": 22,
|
||||
"c": 91,
|
||||
"e": 10
|
||||
"x": 50,
|
||||
"y": 4,
|
||||
"z": 176,
|
||||
"a": 20,
|
||||
"b": 60,
|
||||
"c": 9,
|
||||
"e": 5
|
||||
},
|
||||
"recognized": {
|
||||
"x": null,
|
||||
|
||||
@@ -10,8 +10,8 @@
|
||||
"e": 5
|
||||
},
|
||||
"rendering": {
|
||||
"width": 1440,
|
||||
"height": 1080,
|
||||
"width": 1280,
|
||||
"height": 720,
|
||||
"dofFStop": 11.0
|
||||
},
|
||||
"camera_positions": {
|
||||
|
||||
|
Before Width: | Height: | Size: 1.9 MiB After Width: | Height: | Size: 1.2 MiB |
|
Before Width: | Height: | Size: 1.8 MiB After Width: | Height: | Size: 1.1 MiB |
|
Before Width: | Height: | Size: 1.7 MiB After Width: | Height: | Size: 1.0 MiB |
|
Before Width: | Height: | Size: 1.7 MiB After Width: | Height: | Size: 1.1 MiB |
|
Before Width: | Height: | Size: 1.7 MiB After Width: | Height: | Size: 1.1 MiB |
|
Before Width: | Height: | Size: 1.9 MiB After Width: | Height: | Size: 1.2 MiB |
|
Before Width: | Height: | Size: 1.9 MiB After Width: | Height: | Size: 1.1 MiB |
@@ -1798,25 +1798,25 @@
|
||||
"id": 198,
|
||||
"link": "Arm1",
|
||||
"position_m": [
|
||||
0.2908938527107239,
|
||||
0.13223707675933838,
|
||||
0.2233067750930786
|
||||
0.16089382767677307,
|
||||
-0.04935406148433685,
|
||||
0.1075899675488472
|
||||
],
|
||||
"position_mm": [
|
||||
290.8938527107239,
|
||||
132.23707675933838,
|
||||
223.3067750930786
|
||||
160.89382767677307,
|
||||
-49.35406148433685,
|
||||
107.5899675488472
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.731194019317627,
|
||||
-0.681849479675293,
|
||||
-0.014251436106860638,
|
||||
-0.015282794833183289
|
||||
0.9991726279258728,
|
||||
-0.03489191457629204,
|
||||
-0.0007292810478247702,
|
||||
-0.020883852615952492
|
||||
],
|
||||
"normal": [
|
||||
1.8626449271863521e-09,
|
||||
0.9975640177726746,
|
||||
0.06975647062063217
|
||||
-1.1641532182693481e-10,
|
||||
0.06975655257701874,
|
||||
0.9975640773773193
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1824,25 +1824,25 @@
|
||||
"id": 229,
|
||||
"link": "Arm1",
|
||||
"position_m": [
|
||||
0.2871265113353729,
|
||||
0.1260058730840683,
|
||||
0.31241700053215027
|
||||
0.15712648630142212,
|
||||
-0.13846427202224731,
|
||||
0.11382116377353668
|
||||
],
|
||||
"position_mm": [
|
||||
287.1265113353729,
|
||||
126.0058730840683,
|
||||
312.41700053215027
|
||||
157.12648630142212,
|
||||
-138.46427202224731,
|
||||
113.82116377353668
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.731352686882019,
|
||||
-0.6819973587989807,
|
||||
0.0011515404330566525,
|
||||
0.0012348758755251765
|
||||
0.9993894100189209,
|
||||
-0.03489948809146881,
|
||||
5.8927158534061164e-05,
|
||||
0.0016874510329216719
|
||||
],
|
||||
"normal": [
|
||||
2.3283064365386963e-10,
|
||||
0.9975640773773193,
|
||||
0.06975659728050232
|
||||
0.0,
|
||||
0.06975656002759933,
|
||||
0.9975640773773193
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1850,25 +1850,25 @@
|
||||
"id": 242,
|
||||
"link": "Arm1",
|
||||
"position_m": [
|
||||
0.28994330763816833,
|
||||
0.05530886352062225,
|
||||
0.30560460686683655
|
||||
0.15994328260421753,
|
||||
-0.14155730605125427,
|
||||
0.042864084243774414
|
||||
],
|
||||
"position_mm": [
|
||||
289.94330763816833,
|
||||
55.30886352062225,
|
||||
305.60460686683655
|
||||
159.94328260421753,
|
||||
-141.55730605125427,
|
||||
42.864084243774414
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.49376755952835083,
|
||||
0.5295010209083557,
|
||||
0.5044868588447571,
|
||||
-0.4704415500164032
|
||||
0.025267263874411583,
|
||||
0.7235602140426636,
|
||||
0.6893784403800964,
|
||||
-0.024073652923107147
|
||||
],
|
||||
"normal": [
|
||||
-8.940696716308594e-08,
|
||||
-0.9975640177726746,
|
||||
-0.06975668668746948
|
||||
-5.960464477539063e-08,
|
||||
-0.06975649297237396,
|
||||
-0.9975640773773193
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1876,25 +1876,25 @@
|
||||
"id": 243,
|
||||
"link": "Arm1",
|
||||
"position_m": [
|
||||
0.29063552618026733,
|
||||
0.08418963849544525,
|
||||
0.3455321788787842
|
||||
0.16063550114631653,
|
||||
-0.17707687616348267,
|
||||
0.07702064514160156
|
||||
],
|
||||
"position_mm": [
|
||||
290.63552618026733,
|
||||
84.18963849544525,
|
||||
345.5321788787842
|
||||
160.63550114631653,
|
||||
-177.07687616348267,
|
||||
77.02064514160156
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9993830323219299,
|
||||
0.0348992645740509,
|
||||
0.000138139832415618,
|
||||
-0.003955804277211428
|
||||
0.7313480377197266,
|
||||
0.6819929480552673,
|
||||
0.0026994964573532343,
|
||||
-0.002894855570048094
|
||||
],
|
||||
"normal": [
|
||||
-1.1641530794914701e-10,
|
||||
-0.06975655257701874,
|
||||
0.9975640177726746
|
||||
4.656612873077393e-10,
|
||||
-0.9975640177726746,
|
||||
0.06975671648979187
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1902,25 +1902,25 @@
|
||||
"id": 244,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.4155000150203705,
|
||||
0.09317012131214142,
|
||||
0.31327733397483826
|
||||
0.2854999899864197,
|
||||
-0.14516818523406982,
|
||||
0.07750537246465683
|
||||
],
|
||||
"position_mm": [
|
||||
415.5000150203705,
|
||||
93.17012131214142,
|
||||
313.27733397483826
|
||||
285.4999899864197,
|
||||
-145.16818523406982,
|
||||
77.50537246465683
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.6742300391197205,
|
||||
0.21310511231422424,
|
||||
0.6742300987243652,
|
||||
0.21310511231422424
|
||||
0.006667500827461481,
|
||||
-0.707075297832489,
|
||||
0.006667502224445343,
|
||||
-0.7070753574371338
|
||||
],
|
||||
"normal": [
|
||||
1.0,
|
||||
2.980232594040899e-08,
|
||||
-8.568168397005138e-08
|
||||
-2.7939681679356454e-09,
|
||||
5.960465188081798e-08
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1928,25 +1928,25 @@
|
||||
"id": 245,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.3797415494918823,
|
||||
0.11156880110502243,
|
||||
0.28174030780792236
|
||||
0.24974152445793152,
|
||||
-0.14278611540794373,
|
||||
0.11393915116786957
|
||||
],
|
||||
"position_mm": [
|
||||
379.7415494918823,
|
||||
111.56880110502243,
|
||||
281.74030780792236
|
||||
249.74152445793152,
|
||||
-142.78611540794373,
|
||||
113.93915116786957
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.2062123566865921,
|
||||
-0.6744897365570068,
|
||||
-0.6779249906539917,
|
||||
-0.20726260542869568
|
||||
0.7053084373474121,
|
||||
1.2181504693842271e-08,
|
||||
-3.1579297399275674e-08,
|
||||
-0.7089006304740906
|
||||
],
|
||||
"normal": [
|
||||
-2.9802318834981634e-08,
|
||||
0.5591931939125061,
|
||||
-0.8290373086929321
|
||||
-6.181723932741079e-08,
|
||||
2.758972605931831e-08,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1954,25 +1954,25 @@
|
||||
"id": 246,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.3804028630256653,
|
||||
0.06753406673669815,
|
||||
0.33767998218536377
|
||||
0.2504028081893921,
|
||||
-0.13756074011325836,
|
||||
0.04293914511799812
|
||||
],
|
||||
"position_mm": [
|
||||
380.4028630256653,
|
||||
67.53406673669815,
|
||||
337.67998218536377
|
||||
250.4028081893921,
|
||||
-137.56074011325836,
|
||||
42.93914511799812
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9562409520149231,
|
||||
0.2923523187637329,
|
||||
-0.0033771544694900513,
|
||||
0.011046166531741619
|
||||
4.4700502854766455e-08,
|
||||
0.9999333024024963,
|
||||
-0.011550885625183582,
|
||||
5.163648397754628e-10
|
||||
],
|
||||
"normal": [
|
||||
-1.862645149230957e-09,
|
||||
-0.5591931343078613,
|
||||
0.8290374875068665
|
||||
0.0,
|
||||
-8.94069742685133e-08,
|
||||
-1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -1980,25 +1980,25 @@
|
||||
"id": 247,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.34214141964912415,
|
||||
0.0729345753788948,
|
||||
0.3413226902484894
|
||||
0.21214139461517334,
|
||||
-0.1440749317407608,
|
||||
0.04293914511799812
|
||||
],
|
||||
"position_mm": [
|
||||
342.14141964912415,
|
||||
72.9345753788948,
|
||||
341.3226902484894
|
||||
212.14139461517334,
|
||||
-144.0749317407608,
|
||||
42.93914511799812
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9561297297477722,
|
||||
0.2923183739185333,
|
||||
-0.005593009293079376,
|
||||
0.018293898552656174
|
||||
4.469530523465437e-08,
|
||||
0.9998170137405396,
|
||||
-0.019129779189825058,
|
||||
8.551677144197356e-10
|
||||
],
|
||||
"normal": [
|
||||
0.0,
|
||||
-0.5591931939125061,
|
||||
0.8290373682975769
|
||||
-2.220446049250313e-16,
|
||||
-8.940696716308594e-08,
|
||||
-1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2006,25 +2006,25 @@
|
||||
"id": 248,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.3461109697818756,
|
||||
0.11090230941772461,
|
||||
0.281290739774704
|
||||
0.2161109298467636,
|
||||
-0.14198218286037445,
|
||||
0.11393915116786957
|
||||
],
|
||||
"position_mm": [
|
||||
346.1109697818756,
|
||||
110.90230941772461,
|
||||
281.290739774704
|
||||
216.1109298467636,
|
||||
-141.98218286037445,
|
||||
113.93915116786957
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.2099425047636032,
|
||||
-0.6866903901100159,
|
||||
-0.665563702583313,
|
||||
-0.20348335802555084
|
||||
0.7180665135383606,
|
||||
1.1605975736017626e-08,
|
||||
-3.179532370722882e-08,
|
||||
-0.6959745287895203
|
||||
],
|
||||
"normal": [
|
||||
-8.940695295223122e-08,
|
||||
0.5591931939125061,
|
||||
-0.8290373086929321
|
||||
-6.181723932741079e-08,
|
||||
2.7589747375600382e-08,
|
||||
1.0
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2032,25 +2032,25 @@
|
||||
"id": 232,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.3778913617134094,
|
||||
0.12536777555942535,
|
||||
0.3033978044986725
|
||||
0.24789133667945862,
|
||||
-0.16633668541908264,
|
||||
0.10370057076215744
|
||||
],
|
||||
"position_mm": [
|
||||
377.8913617134094,
|
||||
125.36777555942535,
|
||||
303.3978044986725
|
||||
247.89133667945862,
|
||||
-166.33668541908264,
|
||||
103.70057076215744
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.6359248161315918,
|
||||
-0.7714383602142334,
|
||||
-0.01694793626666069,
|
||||
-0.013970811851322651
|
||||
0.9236566424369812,
|
||||
0.3825910985469818,
|
||||
0.008405250497162342,
|
||||
-0.020292066037654877
|
||||
],
|
||||
"normal": [
|
||||
1.4901162970204496e-08,
|
||||
0.9816272258758545,
|
||||
-0.19080886244773865
|
||||
3.725290742551124e-09,
|
||||
-0.7071067690849304,
|
||||
0.7071068286895752
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2058,25 +2058,25 @@
|
||||
"id": 231,
|
||||
"link": "Ellbow",
|
||||
"position_m": [
|
||||
0.3808724284172058,
|
||||
0.10086208581924438,
|
||||
0.34455493092536926
|
||||
0.250872403383255,
|
||||
-0.16903534531593323,
|
||||
0.05587637051939964
|
||||
],
|
||||
"position_mm": [
|
||||
380.8724284172058,
|
||||
100.86208581924438,
|
||||
344.55493092536926
|
||||
250.872403383255,
|
||||
-169.03534531593323,
|
||||
55.87637051939964
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9952542185783386,
|
||||
-0.09583188593387604,
|
||||
0.0016189995221793652,
|
||||
0.016813986003398895
|
||||
0.38262882828712463,
|
||||
0.9237477779388428,
|
||||
-0.015605944208800793,
|
||||
0.006464193109422922
|
||||
],
|
||||
"normal": [
|
||||
2.3283064365386963e-10,
|
||||
0.19080862402915955,
|
||||
0.9816272854804993
|
||||
0.0,
|
||||
-0.7071067690849304,
|
||||
-0.7071068286895752
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2084,25 +2084,25 @@
|
||||
"id": 120,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.36824238300323486,
|
||||
0.015604853630065918,
|
||||
0.2192991077899933
|
||||
0.28105148673057556,
|
||||
-0.028311721980571747,
|
||||
0.09585337340831757
|
||||
],
|
||||
"position_mm": [
|
||||
368.24238300323486,
|
||||
15.604853630065918,
|
||||
219.2991077899933
|
||||
281.05148673057556,
|
||||
-28.311721980571747,
|
||||
95.85337340831757
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.1316612958908081,
|
||||
0.01566902920603752,
|
||||
-0.9487617015838623,
|
||||
-0.28682923316955566
|
||||
0.01999894343316555,
|
||||
-0.5371485948562622,
|
||||
0.01274071354418993,
|
||||
-0.84315425157547
|
||||
],
|
||||
"normal": [
|
||||
-0.2588190734386444,
|
||||
0.5401391983032227,
|
||||
-0.8007885813713074
|
||||
0.9063078761100769,
|
||||
3.5390257835388184e-08,
|
||||
0.4226180911064148
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2110,25 +2110,25 @@
|
||||
"id": 122,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.36427852511405945,
|
||||
-0.018782399594783783,
|
||||
0.27513453364372253
|
||||
0.21583980321884155,
|
||||
-0.031026199460029602,
|
||||
0.08837979286909103
|
||||
],
|
||||
"position_mm": [
|
||||
364.27852511405945,
|
||||
-18.782399594783783,
|
||||
275.13453364372253
|
||||
215.83980321884155,
|
||||
-31.026199460029602,
|
||||
88.37979286909103
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9228866100311279,
|
||||
0.2849564850330353,
|
||||
-0.24457331001758575,
|
||||
-0.08522923290729523
|
||||
0.00847940519452095,
|
||||
-0.5735456943511963,
|
||||
-0.005937325302511454,
|
||||
0.8191081881523132
|
||||
],
|
||||
"normal": [
|
||||
-0.5000001192092896,
|
||||
-0.4842754900455475,
|
||||
0.7179673910140991
|
||||
-0.9396925568580627,
|
||||
2.8870996260366155e-08,
|
||||
0.3420202136039734
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2136,25 +2136,25 @@
|
||||
"id": 218,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.3992219567298889,
|
||||
0.013277359306812286,
|
||||
0.2222038060426712
|
||||
0.2827777862548828,
|
||||
-0.028006434440612793,
|
||||
0.06470028311014175
|
||||
],
|
||||
"position_mm": [
|
||||
399.2219567298889,
|
||||
13.277359306812286,
|
||||
222.2038060426712
|
||||
282.7777862548828,
|
||||
-28.006434440612793,
|
||||
64.70028311014175
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.24081672728061676,
|
||||
0.09732018411159515,
|
||||
0.921690046787262,
|
||||
0.28813815116882324
|
||||
0.013455531559884548,
|
||||
-0.8189266920089722,
|
||||
0.019216518849134445,
|
||||
-0.5734184980392456
|
||||
],
|
||||
"normal": [
|
||||
0.5000000596046448,
|
||||
0.4842754900455475,
|
||||
-0.7179674506187439
|
||||
0.9396925568580627,
|
||||
-2.60770320892334e-08,
|
||||
-0.3420203924179077
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2162,25 +2162,25 @@
|
||||
"id": 113,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.4066722095012665,
|
||||
-0.06821094453334808,
|
||||
0.22115299105644226
|
||||
0.24005401134490967,
|
||||
0.040138036012649536,
|
||||
0.04960174858570099
|
||||
],
|
||||
"position_mm": [
|
||||
406.6722095012665,
|
||||
-68.21094453334808,
|
||||
221.15299105644226
|
||||
240.05401134490967,
|
||||
40.138036012649536,
|
||||
49.60174858570099
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.8264284133911133,
|
||||
0.25874415040016174,
|
||||
0.4751758873462677,
|
||||
0.15580587089061737
|
||||
0.0020191646181046963,
|
||||
0.9847412109375,
|
||||
-0.011451007798314095,
|
||||
-0.17363642156124115
|
||||
],
|
||||
"normal": [
|
||||
0.8660253286361694,
|
||||
-0.27959659695625305,
|
||||
0.41451871395111084
|
||||
-0.3420201241970062,
|
||||
-8.521601557731628e-08,
|
||||
-0.9396926760673523
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2188,25 +2188,25 @@
|
||||
"id": 114,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.36971721053123474,
|
||||
-0.042641475796699524,
|
||||
0.17953477799892426
|
||||
0.28169676661491394,
|
||||
0.0422125905752182,
|
||||
0.09446956217288971
|
||||
],
|
||||
"position_mm": [
|
||||
369.71721053123474,
|
||||
-42.641475796699524,
|
||||
179.53477799892426
|
||||
281.69676661491394,
|
||||
42.2125905752182,
|
||||
94.46956217288971
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.12733641266822815,
|
||||
0.029923686757683754,
|
||||
-0.9484191536903381,
|
||||
-0.2887752056121826
|
||||
0.007327145431190729,
|
||||
-0.5372793078422546,
|
||||
0.004667885601520538,
|
||||
-0.8433595895767212
|
||||
],
|
||||
"normal": [
|
||||
-0.25881901383399963,
|
||||
0.5401391386985779,
|
||||
-0.8007886409759521
|
||||
0.9063078761100769,
|
||||
3.539026138810186e-08,
|
||||
0.4226182699203491
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2214,25 +2214,25 @@
|
||||
"id": 115,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.3466338813304901,
|
||||
-0.06842178106307983,
|
||||
0.21840748190879822
|
||||
0.23175391554832458,
|
||||
0.0418480783700943,
|
||||
0.10910271853208542
|
||||
],
|
||||
"position_mm": [
|
||||
346.6338813304901,
|
||||
-68.42178106307983,
|
||||
218.40748190879822
|
||||
231.75391554832458,
|
||||
41.8480783700943,
|
||||
109.10271853208542
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.7549293041229248,
|
||||
0.24369077384471893,
|
||||
-0.5773469805717468,
|
||||
-0.1933056265115738
|
||||
0.0197621937841177,
|
||||
-0.21639521420001984,
|
||||
-0.004381132777780294,
|
||||
0.9760960340499878
|
||||
],
|
||||
"normal": [
|
||||
-0.9659258127212524,
|
||||
-0.14472974836826324,
|
||||
0.2145705670118332
|
||||
-0.42261818051338196,
|
||||
7.543712854385376e-08,
|
||||
0.9063078761100769
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2240,25 +2240,25 @@
|
||||
"id": 124,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.3654906451702118,
|
||||
-0.10826586931943893,
|
||||
0.21562126278877258
|
||||
0.215361088514328,
|
||||
0.07643835246562958,
|
||||
0.08706457167863846
|
||||
],
|
||||
"position_mm": [
|
||||
365.4906451702118,
|
||||
-108.26586931943893,
|
||||
215.62126278877258
|
||||
215.361088514328,
|
||||
76.43835246562958,
|
||||
87.06457167863846
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.9223079681396484,
|
||||
0.28655385971069336,
|
||||
-0.24269969761371613,
|
||||
-0.09127813577651978
|
||||
0.01384957879781723,
|
||||
-0.573494553565979,
|
||||
-0.009697562083601952,
|
||||
0.8190349340438843
|
||||
],
|
||||
"normal": [
|
||||
-0.5,
|
||||
-0.4842754900455475,
|
||||
0.7179674506187439
|
||||
-0.9396926760673523,
|
||||
3.166496398421259e-08,
|
||||
0.3420199155807495
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2266,25 +2266,25 @@
|
||||
"id": 219,
|
||||
"link": "Arm2",
|
||||
"position_m": [
|
||||
0.39619529247283936,
|
||||
-0.07564195990562439,
|
||||
0.16011914610862732
|
||||
0.2839730978012085,
|
||||
0.08042831718921661,
|
||||
0.06798440217971802
|
||||
],
|
||||
"position_mm": [
|
||||
396.19529247283936,
|
||||
-75.64195990562439,
|
||||
160.11914610862732
|
||||
283.9730978012085,
|
||||
80.42831718921661,
|
||||
67.98440217971802
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.2542372941970825,
|
||||
0.053410522639751434,
|
||||
0.9252735376358032,
|
||||
0.27636873722076416
|
||||
0.013809144496917725,
|
||||
0.8189146518707275,
|
||||
0.01972147822380066,
|
||||
0.5734100937843323
|
||||
],
|
||||
"normal": [
|
||||
0.5,
|
||||
0.4842754006385803,
|
||||
-0.7179674506187439
|
||||
0.9396926164627075,
|
||||
-3.166497108963995e-08,
|
||||
-0.3420203626155853
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2292,25 +2292,25 @@
|
||||
"id": 40,
|
||||
"link": "FingerA",
|
||||
"position_m": [
|
||||
0.3914892375469208,
|
||||
-0.16435910761356354,
|
||||
0.12156370282173157
|
||||
0.29412415623664856,
|
||||
0.1264372617006302,
|
||||
0.12632080912590027
|
||||
],
|
||||
"position_mm": [
|
||||
391.4892375469208,
|
||||
-164.35910761356354,
|
||||
121.56370282173157
|
||||
294.12415623664856,
|
||||
126.43726170063019,
|
||||
126.32080912590027
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.008576338179409504,
|
||||
0.15523435175418854,
|
||||
0.9162014722824097,
|
||||
0.36932870745658875
|
||||
0.1756238043308258,
|
||||
0.041964091360569,
|
||||
-0.4746590256690979,
|
||||
0.8614488840103149
|
||||
],
|
||||
"normal": [
|
||||
0.1303802877664566,
|
||||
0.6740962862968445,
|
||||
-0.7270455360412598
|
||||
-0.09442299604415894,
|
||||
-0.8325286507606506,
|
||||
0.5458756685256958
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2318,25 +2318,25 @@
|
||||
"id": 41,
|
||||
"link": "FingerA",
|
||||
"position_m": [
|
||||
0.3646829128265381,
|
||||
-0.16163456439971924,
|
||||
0.16649426519870758
|
||||
0.26008814573287964,
|
||||
0.15093836188316345,
|
||||
0.0949200838804245
|
||||
],
|
||||
"position_mm": [
|
||||
364.6829128265381,
|
||||
-161.63456439971924,
|
||||
166.49426519870758
|
||||
260.08814573287964,
|
||||
150.93836188316345,
|
||||
94.9200838804245
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.5453965067863464,
|
||||
0.7783370018005371,
|
||||
-0.2927109897136688,
|
||||
-0.10514010488986969
|
||||
0.8898348212242126,
|
||||
-0.4069197475910187,
|
||||
0.15606461465358734,
|
||||
0.13510800898075104
|
||||
],
|
||||
"normal": [
|
||||
-0.4829559326171875,
|
||||
-0.7874532341957092,
|
||||
-0.3829764127731323
|
||||
0.16778722405433655,
|
||||
0.7663539052009583,
|
||||
0.6201202869415283
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2344,25 +2344,25 @@
|
||||
"id": 42,
|
||||
"link": "FingerA",
|
||||
"position_m": [
|
||||
0.37728434801101685,
|
||||
-0.1826891005039215,
|
||||
0.1284797340631485
|
||||
0.2916521728038788,
|
||||
0.1504884660243988,
|
||||
0.12733463943004608
|
||||
],
|
||||
"position_mm": [
|
||||
377.28434801101685,
|
||||
-182.6891005039215,
|
||||
128.4797340631485
|
||||
291.6521728038788,
|
||||
150.4884660243988,
|
||||
127.33463943004608
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.7579701542854309,
|
||||
0.6138009428977966,
|
||||
0.13565897941589355,
|
||||
0.17414429783821106
|
||||
0.5899782776832581,
|
||||
-0.6176872253417969,
|
||||
0.4968010485172272,
|
||||
-0.1535477638244629
|
||||
],
|
||||
"normal": [
|
||||
0.41943085193634033,
|
||||
-0.8832372426986694,
|
||||
0.20969006419181824
|
||||
0.7758924961090088,
|
||||
0.5762786865234375,
|
||||
-0.2566974461078644
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2370,25 +2370,25 @@
|
||||
"id": 43,
|
||||
"link": "FingerB",
|
||||
"position_m": [
|
||||
0.3319685161113739,
|
||||
-0.14969775080680847,
|
||||
0.13828310370445251
|
||||
0.243973508477211,
|
||||
0.15026040375232697,
|
||||
0.12786133587360382
|
||||
],
|
||||
"position_mm": [
|
||||
331.9685161113739,
|
||||
-149.69775080680847,
|
||||
138.28310370445251
|
||||
243.973508477211,
|
||||
150.26040375232697,
|
||||
127.86133587360382
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.780128538608551,
|
||||
0.26638153195381165,
|
||||
-0.25596511363983154,
|
||||
0.5048983097076416
|
||||
0.3214370012283325,
|
||||
-0.5161373615264893,
|
||||
0.7117162346839905,
|
||||
0.35176753997802734
|
||||
],
|
||||
"normal": [
|
||||
-0.13038019835948944,
|
||||
-0.6740962862968445,
|
||||
0.7270455956459045
|
||||
0.09442313015460968,
|
||||
0.8325287103652954,
|
||||
-0.5458756685256958
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2396,25 +2396,25 @@
|
||||
"id": 44,
|
||||
"link": "FingerB",
|
||||
"position_m": [
|
||||
0.3708168864250183,
|
||||
-0.11914579570293427,
|
||||
0.12279202044010162
|
||||
0.26097574830055237,
|
||||
0.1014852523803711,
|
||||
0.12405355274677277
|
||||
],
|
||||
"position_mm": [
|
||||
370.8168864250183,
|
||||
-119.14579570293427,
|
||||
122.79202044010162
|
||||
260.97574830055237,
|
||||
101.4852523803711,
|
||||
124.05355274677277
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.1570289433002472,
|
||||
0.40392592549324036,
|
||||
-0.8814878463745117,
|
||||
0.18752315640449524
|
||||
0.6136534810066223,
|
||||
0.09928157180547714,
|
||||
0.19299104809761047,
|
||||
0.7591620683670044
|
||||
],
|
||||
"normal": [
|
||||
-0.1253472864627838,
|
||||
-0.4574548900127411,
|
||||
-0.8803539276123047
|
||||
0.3876008689403534,
|
||||
0.17117398977279663,
|
||||
0.9057952165603638
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -2422,25 +2422,25 @@
|
||||
"id": 45,
|
||||
"link": "FingerB",
|
||||
"position_m": [
|
||||
0.33433204889297485,
|
||||
-0.14838381111621857,
|
||||
0.11471820622682571
|
||||
0.2511198818683624,
|
||||
0.14095249772071838,
|
||||
0.14847464859485626
|
||||
],
|
||||
"position_mm": [
|
||||
334.33204889297485,
|
||||
-148.38381111621857,
|
||||
114.71820622682571
|
||||
251.11988186836243,
|
||||
140.95249772071838,
|
||||
148.47464859485626
|
||||
],
|
||||
"rotation_quaternion": [
|
||||
0.17051881551742554,
|
||||
0.4431733191013336,
|
||||
-0.785284698009491,
|
||||
-0.3973018229007721
|
||||
0.7238650321960449,
|
||||
-0.09104329347610474,
|
||||
-0.33444294333457947,
|
||||
0.5965555310249329
|
||||
],
|
||||
"normal": [
|
||||
-0.619958758354187,
|
||||
0.4728512763977051,
|
||||
-0.6261492371559143
|
||||
-0.5928078293800354,
|
||||
-0.2672214210033417,
|
||||
0.7597180604934692
|
||||
]
|
||||
}
|
||||
]
|
||||
|
Before Width: | Height: | Size: 1.2 MiB After Width: | Height: | Size: 1.1 MiB |