File size: 3,434 Bytes
b4ad3a7 | 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 | {
"scale": 0.25,
"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_handle": [
{
"id": 0,
"matrix": [
[
-0.9396899938583374,
0.2962000072002411,
-0.17101000249385834,
-0.03999999910593033
],
[
-0.0,
0.5,
0.8660299777984619,
-0.8799999952316284
],
[
0.3420200049877167,
0.8137999773025513,
-0.46985000371932983,
0.3199999928474426
],
[
0.0,
0.0,
0.0,
1.0
]
],
"base": "base",
"description": ""
}
],
"right_handle": [
{
"id": 0,
"matrix": [
[
0.9396899938583374,
0.0,
-0.3420200049877167,
0.0
],
[
-0.340719997882843,
-0.08715999871492386,
-0.9361199736595154,
0.8799999952316284
],
[
-0.029810000211000443,
0.9961900115013123,
-0.08190000057220459,
0.3199999928474426
],
[
0.0,
0.0,
0.0,
1.0
]
],
"base": "base",
"description": ""
}
],
"up_handle": [
{
"id": 0,
"matrix": [
[
-0.08417999744415283,
0.9961900115013123,
-0.0225600004196167,
0.0
],
[
0.9622499942779541,
0.08715000003576279,
0.2578299939632416,
0.0
],
[
0.2588199973106384,
0.0,
-0.9659299850463867,
0.47999998927116394
],
[
0.0,
0.0,
0.0,
1.0
]
],
"base": "base",
"description": ""
}
]
}
} |