assets/urdf/Kitchenpot/100015/model_data.json

{
    "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": ""
            }
        ]
    }
}