assets/urdf/Window/103318/model_data.json

{
    "scale": 1.5,
    "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": {
        "handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.3727799952030182,
                        0.7880100011825562,
                        0.489980012178421,
                        -0.07641000300645828
                    ],
                    [
                        0.8587599992752075,
                        -0.09294000267982483,
                        -0.5038800239562988,
                        0.3192099928855896
                    ],
                    [
                        -0.35152000188827515,
                        0.6086099743843079,
                        -0.711359977722168,
                        0.9018999934196472
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        -0.15223999321460724,
                        -0.7358300089836121,
                        0.6598299741744995,
                        -0.07930000126361847
                    ],
                    [
                        -0.9751999974250793,
                        0.22036999464035034,
                        0.020749999210238457,
                        -0.26620998978614807
                    ],
                    [
                        -0.16066999733448029,
                        -0.6403099894523621,
                        -0.7511299848556519,
                        0.8950700163841248
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}