urdf/kitchen_counter/kitchen_counter.ao_config.json

{
  "user_defined": {
    "receptacle_aabb_counter_left_kitchen_counter": {
      "name": "receptacle_aabb_counter_left_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "body",
      "position": [
        -0.15852411091327667,
        1.0379259586334229,
        1.0976535081863403
      ],
      "scale": [
        0.3150680661201477,
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        0.4582241177558899
      ]
    },
    "receptacle_aabb_counter_right_kitchen_counter": {
      "name": "receptacle_aabb_counter_right_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "body",
      "position": [
        -0.18135365843772888,
        1.0379259586334229,
        -0.7386987805366516
      ],
      "scale": [
        0.3049129843711853,
        0.19124983251094818,
        0.7560272216796875
      ]
    },
    "receptacle_aabb_sink_kitchen_counter": {
      "name": "receptacle_aabb_sink_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "body",
      "position": [
        -0.16285690665245056,
        0.7953284978866577,
        0.31989800930023193
      ],
      "scale": [
        0.11179278790950775,
        0.0986369326710701,
        0.18056082725524902
      ]
    },
    "receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_left_top_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer1_top",
      "position": [
        -0.01,
        0.05,
        0
      ],
      "scale": [
        -0.24785809218883514,
        -0.13895395398139954,
        -0.399248868227005
      ]
    },
    "receptacle_aabb_drawer_left_bottom_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_left_bottom_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer1_bottom",
      "position": [
        -0.01,
        0.05,
        0
      ],
      "scale": [
        -0.24785809218883514,
        -0.13895395398139954,
        -0.399248868227005
      ]
    },
    "receptacle_aabb_drawer_middle_top_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_middle_top_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer2_top",
      "position": [
        -0.01,
        0.05,
        0
      ],
      "scale": [
        0.2581610679626465,
        0.07129020243883133,
        0.25962355732917786
      ]
    },
    "receptacle_aabb_drawer_middle_middle_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_middle_middle_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer2_middle",
      "position": [
        -0.01,
        0.05,
        0
      ],
      "scale": [
        0.2581610679626465,
        0.07129020243883133,
        0.25962355732917786
      ]
    },
    "receptacle_aabb_drawer_middle_bottom_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_middle_bottom_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer2_bottom",
      "position": [
        -0.01,
        0.05,
        0
      ],
      "scale": [
        0.2581610679626465,
        0.07129020243883133,
        0.25962355732917786
      ]
    },
    "receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_right_top_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer3",
      "position": [
        -0.01,
        0.036,
        0
      ],
      "scale": [
        0.2459012269973755,
        0.08342394232749939,
        0.3978116810321808
      ]
    },
    "receptacle_aabb_drawer_right_bottom_frl_apartment_kitchen_counter": {
      "name": "receptacle_aabb_drawer_right_bottom_frl_apartment_kitchen_counter",
      "parent_object": "kitchen_counter",
      "parent_link": "drawer4",
      "position": [
        -0.01,
        0.055,
        0
      ],
      "scale": [
        0.24476364254951477,
        0.13102833926677704,
        0.3935939371585846
      ]
    }
  }
}