File size: 2,417 Bytes
d6ae06b | 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 | {
"scale": 0.04,
"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": {
"cap": [
{
"id": 0,
"matrix": [
[
-0.00033000000985339284,
-0.007600000128149986,
0.999970018863678,
-1.0018999576568604
],
[
0.08681999891996384,
0.9961900115013123,
0.007600000128149986,
-0.0009500000160187483
],
[
-0.9962199926376343,
0.08681999891996384,
0.00033000000985339284,
0.021709999069571495
],
[
0.0,
0.0,
0.0,
1.0
]
],
"base": "base",
"description": ""
}
],
"body": [
{
"id": 0,
"matrix": [
[
-0.9961900115013123,
0.0,
-0.08715999871492386,
0.7689399719238281
],
[
-0.0,
1.0,
0.0,
0.0
],
[
0.08715999871492386,
0.0,
-0.9961900115013123,
0.18367999792099
],
[
0.0,
0.0,
0.0,
1.0
]
],
"base": "base",
"description": ""
}
]
}
} |