MetaFine / assets /urdf /WashingMachine /103776 /mobility_v2.json
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[{"id": 0, "parent": 4, "joint": "hinge", "name": "door", "parts": [{"id": 1, "name": "door", "children": []}], "jointData": {"axis": {"origin": [0, 0.5355253180113568, -0.1994985763728603], "direction": [1, 0, 0]}, "limit": {"a": 0, "b": -80.27999999999997, "noLimit": false}}}, {"id": 1, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 2, "name": "button", "children": []}], "jointData": {"axis": {"origin": [0.27982609723602747, 0.6644836434432643, -0.337098325800473], "direction": [0.00011058445263238017, 0.45238328297170866, 0.8918236109561228]}, "limit": {"a": 207.71999999999997, "b": 104, "noLimit": false}}}, {"id": 2, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 3, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.12339422213495463, 0.6644895960455806, -0.3370854992998754], "direction": [-3.851853449415025e-05, -0.45240912743601064, -0.8918105067383486]}, "limit": {"a": 131.76, "b": 304.2, "noLimit": false}}}, {"id": 3, "parent": 4, "joint": "hinge", "name": "knob", "parts": [{"id": 4, "name": "button", "children": []}], "jointData": {"axis": {"origin": [-0.26364518319175667, 0.6644922226391637, -0.3370807741180237], "direction": [-3.851853449415036e-05, -0.45240912743601075, -0.8918105067383486]}, "limit": {"a": 0, "b": 82.08, "noLimit": false}}}, {"id": 4, "parent": -1, "joint": "heavy", "name": "base_body", "parts": [{"id": 5, "name": "base_body", "children": []}], "jointData": {}}]