File size: 6,457 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
{
    "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": {
        "lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.1287200003862381,
                        0.07704000174999237,
                        0.9886800050735474,
                        0.10130999982357025
                    ],
                    [
                        -0.14494000375270844,
                        -0.9848099946975708,
                        0.09561000019311905,
                        -0.5976499915122986
                    ],
                    [
                        0.9810299873352051,
                        -0.15560999512672424,
                        -0.11559999734163284,
                        0.5300099849700928
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.2578299939632416,
                        -0.14552000164985657,
                        0.9551699757575989,
                        0.137580007314682
                    ],
                    [
                        0.08715999871492386,
                        -0.9810600280761719,
                        -0.17298999428749084,
                        -0.5935500264167786
                    ],
                    [
                        0.9622499942779541,
                        0.1278499960899353,
                        -0.2402700036764145,
                        0.6399800181388855
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        -0.08583000302314758,
                        0.1580899953842163,
                        0.9836900234222412,
                        0.16864000260829926
                    ],
                    [
                        0.9963099956512451,
                        0.014259999617934227,
                        0.08463999629020691,
                        -0.3845599889755249
                    ],
                    [
                        -0.0006500000017695129,
                        0.9873200058937073,
                        -0.15873000025749207,
                        0.784850001335144
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        -0.21513999998569489,
                        0.07846000045537949,
                        0.9734299778938293,
                        0.18476000428199768
                    ],
                    [
                        0.976580023765564,
                        0.021159999072551727,
                        0.2141299992799759,
                        0.2759999930858612
                    ],
                    [
                        -0.003800000064074993,
                        0.9966899752616882,
                        -0.08117000013589859,
                        0.7897700071334839
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        -0.15800000727176666,
                        -0.06716000288724899,
                        0.9851499795913696,
                        0.14270000159740448
                    ],
                    [
                        -0.08087000250816345,
                        0.9952099919319153,
                        0.05488000065088272,
                        0.5363399982452393
                    ],
                    [
                        -0.9841200113296509,
                        -0.07099000364542007,
                        -0.1626800000667572,
                        0.6389600038528442
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        -0.34303000569343567,
                        0.18719999492168427,
                        0.9204800128936768,
                        0.1011200025677681
                    ],
                    [
                        -0.014800000004470348,
                        0.9787399768829346,
                        -0.20455999672412872,
                        0.5331599712371826
                    ],
                    [
                        -0.9392099976539612,
                        -0.08378999680280685,
                        -0.33296999335289,
                        0.5254700183868408
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}