File size: 3,501 Bytes
7c78cbc
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
{
    "scale": 0.1,
    "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": {
        "lens": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.9960200190544128,
                        0.08780000358819962,
                        -0.015189999714493752,
                        -0.5008100271224976
                    ],
                    [
                        0.08781000226736069,
                        0.9961400032043457,
                        0.0,
                        0.05138000100851059
                    ],
                    [
                        0.01513999979943037,
                        -0.0013299999991431832,
                        -0.9998800158500671,
                        0.2943199872970581
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "body": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.032030001282691956,
                        -0.9992799758911133,
                        0.020320000126957893,
                        0.08044999837875366
                    ],
                    [
                        -0.3503899872303009,
                        -0.007819999940693378,
                        -0.9365699887275696,
                        0.8666700124740601
                    ],
                    [
                        0.9360600113868713,
                        -0.03711999952793121,
                        -0.34988999366760254,
                        -0.22234000265598297
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.10221999883651733,
                        -0.9909200072288513,
                        -0.08735000342130661,
                        0.1037599965929985
                    ],
                    [
                        -0.0012600000482052565,
                        -0.08793999999761581,
                        0.9961299896240234,
                        -0.9003999829292297
                    ],
                    [
                        -0.9947599768638611,
                        -0.10171999782323837,
                        -0.010230000130832195,
                        0.19844000041484833
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}