assets/urdf/Kitchenpot/102085/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": [
                    [
                        0.9629999995231628,
                        -0.08190000057220459,
                        0.2567700147628784,
                        -0.029729999601840973
                    ],
                    [
                        -0.07139000296592712,
                        -0.9961900115013123,
                        -0.04998999834060669,
                        -0.0020000000949949026
                    ],
                    [
                        0.25988999009132385,
                        0.029810000211000443,
                        -0.965179979801178,
                        0.4413900077342987
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.9659299850463867,
                        -0.0,
                        -0.2588199973106384,
                        0.9599999785423279
                    ],
                    [
                        -0.0,
                        -1.0,
                        -0.0,
                        0.0
                    ],
                    [
                        -0.2588199973106384,
                        0.0,
                        -0.9659299850463867,
                        0.1599999964237213
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}