assets/urdf/USB/100511/model_data.json

{
    "scale": 0.04,
    "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": {
        "cap": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.00033000000985339284,
                        -0.007600000128149986,
                        0.999970018863678,
                        -1.0018999576568604
                    ],
                    [
                        0.08681999891996384,
                        0.9961900115013123,
                        0.007600000128149986,
                        -0.0009500000160187483
                    ],
                    [
                        -0.9962199926376343,
                        0.08681999891996384,
                        0.00033000000985339284,
                        0.021709999069571495
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "body": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.9961900115013123,
                        0.0,
                        -0.08715999871492386,
                        0.7689399719238281
                    ],
                    [
                        -0.0,
                        1.0,
                        0.0,
                        0.0
                    ],
                    [
                        0.08715999871492386,
                        0.0,
                        -0.9961900115013123,
                        0.18367999792099
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}