{ "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": [ [ 0.6464099884033203, 0.2040800005197525, 0.7351899743080139, -0.04092000052332878 ], [ 0.0030400000978261232, 0.9628700017929077, -0.2699599862098694, 0.7432299852371216 ], [ -0.7629799842834473, 0.17674000561237335, 0.6217899918556213, 0.4730699956417084 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 1, "matrix": [ [ 0.5023999810218811, -0.0232900008559227, 0.8643199801445007, 0.07912000268697739 ], [ -0.005710000172257423, 0.999530017375946, 0.030260000377893448, 0.7383400201797485 ], [ -0.8646199703216553, -0.02013999968767166, 0.5020300149917603, 0.36952999234199524 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 2, "matrix": [ [ 0.64301997423172, -0.20404000580310822, 0.7381700277328491, -0.0385500006377697 ], [ 0.007420000154525042, 0.965470016002655, 0.2603999972343445, -0.7158200144767761 ], [ -0.7658100128173828, -0.16196000576019287, 0.6223300099372864, 0.4560700058937073 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 3, "matrix": [ [ 0.6417700052261353, 0.05485000088810921, 0.764930009841919, 0.21257999539375305 ], [ 0.0006500000017695129, 0.9973999857902527, -0.07207000255584717, -0.7145900130271912 ], [ -0.7669000029563904, 0.04675000160932541, 0.6400600075721741, 0.2690100073814392 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 4, "matrix": [ [ 0.015569999814033508, 0.7640900015830994, 0.6449199914932251, -0.3103199899196625 ], [ -0.9930700063705444, -0.06334999948740005, 0.09903000295162201, 0.20669999718666077 ], [ 0.1165200024843216, -0.6419900059700012, 0.7578099966049194, 0.7078499794006348 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 5, "matrix": [ [ -0.12279000133275986, 0.7071099877357483, 0.6963599920272827, -0.3125 ], [ -0.9848099946975708, -0.0, -0.17364999651908875, -0.4000000059604645 ], [ -0.12279000133275986, -0.7071099877357483, 0.6963599920272827, 0.7021399736404419 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" } ] } }