| { | |
| "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": [ | |
| [ | |
| -0.05350999906659126, | |
| 0.8408100008964539, | |
| 0.5386800169944763, | |
| -0.40011999011039734 | |
| ], | |
| [ | |
| 0.9983999729156494, | |
| 0.03516000136733055, | |
| 0.04428999871015549, | |
| -0.016349999234080315 | |
| ], | |
| [ | |
| 0.018300000578165054, | |
| 0.5401899814605713, | |
| -0.8413400053977966, | |
| 0.5839200019836426 | |
| ], | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ] | |
| ], | |
| "base": "base", | |
| "description": "" | |
| } | |
| ] | |
| } | |
| } |