File size: 6,385 Bytes
f3ef59c
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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": [
                    [
                        -0.39173999428749084,
                        -0.14067000150680542,
                        0.9092599749565125,
                        -0.3415600061416626
                    ],
                    [
                        -0.9154999852180481,
                        -0.03888000175356865,
                        -0.4004400074481964,
                        0.321370005607605
                    ],
                    [
                        0.09167999774217606,
                        -0.9892899990081787,
                        -0.11354999989271164,
                        0.5841900110244751
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.003869999898597598,
                        -0.44091999530792236,
                        0.8975399732589722,
                        -0.3407999873161316
                    ],
                    [
                        -0.9946699738502502,
                        0.0907600000500679,
                        0.04887000098824501,
                        -0.42904001474380493
                    ],
                    [
                        -0.10300000011920929,
                        -0.8929499983787537,
                        -0.43821999430656433,
                        0.5859500169754028
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.5735800266265869,
                        -0.4095799922943115,
                        0.7093999981880188,
                        0.0803299993276596
                    ],
                    [
                        0.0,
                        0.8660200238227844,
                        0.5,
                        -0.8125
                    ],
                    [
                        -0.8191499710083008,
                        -0.28679001331329346,
                        0.4967299997806549,
                        0.3727400004863739
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        0.9396899938583374,
                        -0.21985000371932983,
                        0.2619999945163727,
                        -0.19345000386238098
                    ],
                    [
                        0.0,
                        0.766040027141571,
                        0.6427900195121765,
                        -0.80663001537323
                    ],
                    [
                        -0.3420200049877167,
                        -0.6040199995040894,
                        0.7198500037193298,
                        0.4804899990558624
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        0.9026600122451782,
                        0.20103000104427338,
                        0.3805199861526489,
                        -0.20292000472545624
                    ],
                    [
                        0.14585000276565552,
                        0.6889700293540955,
                        -0.7099699974060059,
                        0.759850025177002
                    ],
                    [
                        -0.4048900008201599,
                        0.6963599920272827,
                        0.5925800204277039,
                        0.49031999707221985
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        0.736329972743988,
                        -0.003869999898597598,
                        0.676609992980957,
                        0.060350000858306885
                    ],
                    [
                        0.4359099864959717,
                        0.7675300240516663,
                        -0.46998000144958496,
                        0.7618399858474731
                    ],
                    [
                        -0.5174999833106995,
                        0.640999972820282,
                        0.5668399930000305,
                        0.39469000697135925
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}