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	{
	"scale": 0.04,
	"transform_matrix": [
	[
	1.0,
	0.0,
	0.0,
	0.0
	],
	[
	0.0,
	1.0,
	0.0,
	0.0
	],
	[
	0.0,
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	1.0,
	0.0
	],
	[
	0.0,
	0.0,
	0.0,
	1.0
	]
	],
	"init_qpos": [],
	"grasp_parts": {
	"cap": [
	{
	"id": 0,
	"matrix": [
	[
	-1.0,
	0.0,
	-0.0,
	-0.75
	],
	[
	-0.0,
	1.0,
	0.0,
	0.0
	],
	[
	0.0,
	0.0,
	-1.0,
	0.25
	],
	[
	0.0,
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	0.0,
	1.0
	]
	],
	"base": "base",
	"description": ""
	}
	],
	"body": [
	{
	"id": 0,
	"matrix": [
	[
	-1.0,
	0.0,
	-0.0,
	0.5
	],
	[
	-0.0,
	1.0,
	0.0,
	-0.0
	],
	[
	0.0,
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	0.25
	],
	[
	0.0,
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	0.0,
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	]
	],
	"base": "base",
	"description": ""
	}
	]
	}
	}