assets/urdf/WashingMachine/103452/model_data.json

{
    "scale": 1.4,
    "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": {
        "door_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.2588199973106384,
                        0.25,
                        0.9330099821090698,
                        -0.5857099890708923
                    ],
                    [
                        0.0,
                        0.9659299850463867,
                        -0.2588199973106384,
                        -0.22856999933719635
                    ],
                    [
                        -0.9659299850463867,
                        -0.06699000298976898,
                        -0.25,
                        -0.0
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}