File size: 6,384 Bytes
5dabbb8
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
    "scale": 0.8,
    "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
        ]
    ],
    "init_qpos": [],
    "grasp_parts": {
        "left_lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.08715999871492386,
                        0.9961900115013123,
                        0.0,
                        -0.6991900205612183
                    ],
                    [
                        0.9810600280761719,
                        -0.08583000302314758,
                        0.17364999651908875,
                        0.0008699999889358878
                    ],
                    [
                        0.17298999428749084,
                        -0.015130000188946724,
                        -0.9848099946975708,
                        0.5892000198364258
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        -0.35611000657081604,
                        0.9340500235557556,
                        0.027140000835061073,
                        -0.5447900295257568
                    ],
                    [
                        -0.14854000508785248,
                        -0.08525999635457993,
                        0.9852200150489807,
                        -0.4122900068759918
                    ],
                    [
                        0.9225599765777588,
                        0.34681999683380127,
                        0.16910000145435333,
                        0.4397599995136261
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.44352999329566956,
                        0.8925399780273438,
                        -0.08160000294446945,
                        -0.5598999857902527
                    ],
                    [
                        -0.14021000266075134,
                        -0.020829999819397926,
                        -0.9898999929428101,
                        0.41574999690055847
                    ],
                    [
                        -0.8852300047874451,
                        0.45048999786376953,
                        0.11591000109910965,
                        0.44637998938560486
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "right_lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.3410399854183197,
                        0.9360299706459045,
                        0.08681999891996384,
                        0.5390300154685974
                    ],
                    [
                        -0.10437999665737152,
                        0.05407999828457832,
                        -0.9930700063705444,
                        0.41795000433921814
                    ],
                    [
                        -0.9342399835586548,
                        -0.3477399945259094,
                        0.07925999909639359,
                        0.5069400072097778
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.0,
                        1.0,
                        -0.0,
                        0.625
                    ],
                    [
                        0.9961900115013123,
                        0.0,
                        -0.08715999871492386,
                        -0.0005200000014156103
                    ],
                    [
                        -0.08715999871492386,
                        -0.0,
                        -0.9961900115013123,
                        0.6619799733161926
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.2578299939632416,
                        0.9659299850463867,
                        0.0225600004196167,
                        0.5449100136756897
                    ],
                    [
                        0.16485999524593353,
                        -0.06699000298976898,
                        0.9840400218963623,
                        -0.41572999954223633
                    ],
                    [
                        0.952019989490509,
                        -0.25,
                        -0.17652000486850739,
                        0.5136100053787231
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}