{
    "franka": [
        {
            "init_state": {
                "franka": {
                    "dof_pos": {
                        "panda_joint1": 0.0,
                        "panda_joint2": 0.0,
                        "panda_joint3": 0.0,
                        "panda_joint4": 0.0,
                        "panda_joint5": 0.0,
                        "panda_joint6": 0.0,
                        "panda_joint7": 0.0,
                        "panda_finger_joint1": 0.0,
                        "panda_finger_joint2": 0.0
                    },
                    "pos": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "rot": [
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ]
                }
            }
        }
    ]
}