assets/urdf/Stapler/103303/model_data.json

{
    "scale": 0.09,
    "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": [
                    [
                        -0.9961900115013123,
                        -0.0,
                        0.08715999871492386,
                        -0.03874000161886215
                    ],
                    [
                        0.0,
                        1.0,
                        0.0,
                        -0.0
                    ],
                    [
                        -0.08715999871492386,
                        0.0,
                        -0.9961900115013123,
                        0.4427500069141388
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "body": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.0,
                        -0.0,
                        1.0,
                        -1.0
                    ],
                    [
                        0.0,
                        1.0,
                        0.0,
                        -0.0
                    ],
                    [
                        -1.0,
                        0.0,
                        -0.0,
                        -0.11111000180244446
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}