assets/urdf/Box/100174/model_data.json

{
    "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": [
                    [
                        0.08682999759912491,
                        -0.5652199983596802,
                        0.820360004901886,
                        -0.36028000712394714
                    ],
                    [
                        0.9962199926376343,
                        0.048990000039339066,
                        -0.07169000059366226,
                        0.4077500104904175
                    ],
                    [
                        0.00033000000985339284,
                        0.8234900236129761,
                        0.5673400163650513,
                        0.517300009727478
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.08715000003576279,
                        -0.9028599858283997,
                        0.42100998759269714,
                        -0.3551599979400635
                    ],
                    [
                        0.9961900115013123,
                        0.07898999750614166,
                        -0.03683000057935715,
                        -0.5586699843406677
                    ],
                    [
                        0.0,
                        0.4226199984550476,
                        0.9063100218772888,
                        0.5146899819374084
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.9659299850463867,
                        -0.0,
                        0.2588199973106384,
                        0.08749999850988388
                    ],
                    [
                        0.06699000298976898,
                        0.9659299850463867,
                        -0.25,
                        -0.75
                    ],
                    [
                        -0.25,
                        0.2588199973106384,
                        0.9330099821090698,
                        0.32499998807907104
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        0.8660299777984619,
                        0.0,
                        0.5,
                        -0.23292000591754913
                    ],
                    [
                        -0.17101000249385834,
                        0.9396899938583374,
                        0.2962000072002411,
                        -0.754580020904541
                    ],
                    [
                        -0.46985000371932983,
                        -0.3420200049877167,
                        0.8137999773025513,
                        0.45987001061439514
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        0.7071099877357483,
                        0.24184000492095947,
                        0.6644600033760071,
                        -0.015180000104010105
                    ],
                    [
                        0.0,
                        0.9396899938583374,
                        -0.3420200049877167,
                        0.6957200169563293
                    ],
                    [
                        -0.7071099877357483,
                        0.24184000492095947,
                        0.6644600033760071,
                        0.37018001079559326
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        0.8191499710083008,
                        -0.0,
                        0.5735800266265869,
                        -0.20329999923706055
                    ],
                    [
                        -0.19617000222206116,
                        0.9396899938583374,
                        0.2801699936389923,
                        0.706250011920929
                    ],
                    [
                        -0.5389900207519531,
                        -0.3420200049877167,
                        0.7697499990463257,
                        0.4498400092124939
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}