assets/urdf/Kitchenpot/100693/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": {
        "up_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.9848099946975708,
                        -0.0,
                        0.17364999651908875,
                        0.006949999835342169
                    ],
                    [
                        -0.0,
                        1.0,
                        -0.0,
                        0.03999999910593033
                    ],
                    [
                        -0.17364999651908875,
                        -0.0,
                        -0.9848099946975708,
                        0.27939000725746155
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        1.0,
                        -0.0,
                        -0.0,
                        0.0
                    ],
                    [
                        -0.0,
                        -0.2588199973106384,
                        0.9659299850463867,
                        -1.0813599824905396
                    ],
                    [
                        -0.0,
                        -0.9659299850463867,
                        -0.2588199973106384,
                        0.10965000092983246
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}