assets/urdf/WashingMachine/103425/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": [
                    [
                        -0.0,
                        -0.9961900115013123,
                        0.08715999871492386,
                        -0.51555997133255
                    ],
                    [
                        0.7071099877357483,
                        -0.0616299994289875,
                        -0.7044199705123901,
                        -0.21807000041007996
                    ],
                    [
                        0.7071099877357483,
                        0.0616299994289875,
                        0.7044199705123901,
                        0.20377999544143677
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}