{
    "scale": 0.8,
    "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": {
        "lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.001449999981559813,
                        -0.9837300181388855,
                        0.179639995098114,
                        0.24416999518871307
                    ],
                    [
                        -0.951229989528656,
                        0.056770000606775284,
                        0.30320000648498535,
                        -0.2391500025987625
                    ],
                    [
                        -0.3084700107574463,
                        -0.17044000327587128,
                        -0.9358400106430054,
                        0.8548300266265869
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        -0.02452000044286251,
                        0.99795001745224,
                        0.059059999883174896,
                        0.23795999586582184
                    ],
                    [
                        0.9548100233078003,
                        0.04089000076055527,
                        -0.2943899929523468,
                        0.2877199947834015
                    ],
                    [
                        -0.2962000072002411,
                        0.04916999861598015,
                        -0.9538599848747253,
                        0.8519099950790405
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.041770000010728836,
                        0.9984300136566162,
                        0.0372299998998642,
                        0.2444400042295456
                    ],
                    [
                        0.40351998805999756,
                        0.017230000346899033,
                        -0.9148100018501282,
                        0.540149986743927
                    ],
                    [
                        -0.9140200018882751,
                        0.05322999879717827,
                        -0.40217000246047974,
                        0.6375300288200378
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        -0.2285500019788742,
                        -0.9732699990272522,
                        -0.022600000724196434,
                        0.24595999717712402
                    ],
                    [
                        0.2746500074863434,
                        -0.04219000041484833,
                        -0.9606199860572815,
                        0.5379999876022339
                    ],
                    [
                        0.9339900016784668,
                        -0.22575999796390533,
                        0.27695000171661377,
                        0.38885998725891113
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        0.038270000368356705,
                        -0.9853799939155579,
                        0.16598999500274658,
                        0.24036000669002533
                    ],
                    [
                        -0.3781900107860565,
                        0.13946999609470367,
                        0.9151600003242493,
                        -0.521369993686676
                    ],
                    [
                        -0.9249399900436401,
                        -0.09780000150203705,
                        -0.3673200011253357,
                        0.6464599967002869
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        -0.07399000227451324,
                        0.9907600283622742,
                        0.11365000158548355,
                        0.23973999917507172
                    ],
                    [
                        -0.5288900136947632,
                        -0.1356000006198883,
                        0.8377900123596191,
                        -0.5164300203323364
                    ],
                    [
                        0.8454599976539612,
                        0.001879999996162951,
                        0.534030020236969,
                        0.4331800043582916
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}