{ "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": [ [ -0.2753399908542633, -0.100040003657341, 0.9561300277709961, 0.21035000681877136 ], [ 0.0521400012075901, -0.9946600198745728, -0.08905000239610672, -0.5615100264549255 ], [ 0.9599300026893616, 0.02532999962568283, 0.27908000349998474, 0.20361000299453735 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 1, "matrix": [ [ -0.32585999369621277, 0.055649999529123306, 0.9437800049781799, 0.007519999984651804 ], [ -0.010579999536275864, -0.998420000076294, 0.05522000044584274, -0.5561400055885315 ], [ 0.945360004901886, 0.00800000037997961, 0.32592999935150146, 0.6375100016593933 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 2, "matrix": [ [ -0.17298999428749084, -0.25363999605178833, 0.95169997215271, 0.1751299947500229 ], [ -0.015130000188946724, -0.965470016002655, -0.26006001234054565, 0.5611000061035156 ], [ 0.9848099946975708, -0.059390000998973846, 0.16317999362945557, 0.2874999940395355 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 3, "matrix": [ [ 0.3954100012779236, -0.23654000461101532, 0.8875200152397156, -0.016979999840259552 ], [ 0.07474000006914139, 0.9713500142097473, 0.22559000551700592, 0.5619199872016907 ], [ -0.9154599905014038, -0.022859999909996986, 0.4017600119113922, 0.7029200196266174 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 4, "matrix": [ [ 0.25, 0.33915001153945923, 0.9068999886512756, -0.07831999659538269 ], [ -0.9659299850463867, 0.0225600004196167, 0.2578299939632416, 0.3186500072479248 ], [ 0.06699000298976898, -0.9404600262641907, 0.33322998881340027, 0.8675600290298462 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" }, { "id": 5, "matrix": [ [ -0.08681999891996384, -0.007600000128149986, 0.9962000250816345, -0.07581000030040741 ], [ -0.9923999905586243, -0.08681999891996384, -0.08715000003576279, -0.3300800025463104 ], [ 0.08715999871492386, -0.9961900115013123, -0.0, 0.8704699873924255 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" } ] } }