| { | |
| "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": [ | |
| [ | |
| -0.0, | |
| 0.4226199984550476, | |
| 0.9063100218772888, | |
| -0.6447200179100037 | |
| ], | |
| [ | |
| 0.0, | |
| 0.9063100218772888, | |
| -0.4226199984550476, | |
| -0.2904700040817261 | |
| ], | |
| [ | |
| -1.0, | |
| -0.0, | |
| -0.0, | |
| -0.08049000054597855 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "base": "base", | |
| "description": "" | |
| } | |
| ] | |
| } | |
| } |