{
    "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": {
        "left_lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        1.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    [
                        0.0,
                        0.9063100218772888,
                        0.4226199984550476,
                        -0.7875000238418579
                    ],
                    [
                        0.0,
                        -0.4226199984550476,
                        0.9063100218772888,
                        0.02500000037252903
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.2578299939632416,
                        0.08715999871492386,
                        -0.9622499942779541,
                        0.5181400179862976
                    ],
                    [
                        0.06171000003814697,
                        0.9923999905586243,
                        0.10642000287771225,
                        -0.6502799987792969
                    ],
                    [
                        0.9642199873924255,
                        -0.08681999891996384,
                        0.25049999356269836,
                        0.18975000083446503
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        -0.029810000211000443,
                        0.08190000057220459,
                        0.9961900115013123,
                        -0.5464699864387512
                    ],
                    [
                        -0.42131999135017395,
                        0.9027500152587891,
                        -0.08681999891996384,
                        -0.6369400024414062
                    ],
                    [
                        -0.9064199924468994,
                        -0.4223099946975708,
                        0.007590000052005053,
                        0.20381000638008118
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        -0.12279000133275986,
                        0.6963599920272827,
                        0.7071099877357483,
                        -0.9447600245475769
                    ],
                    [
                        -0.9848099946975708,
                        -0.17364999651908875,
                        0.0,
                        -0.007230000104755163
                    ],
                    [
                        0.12279000133275986,
                        -0.6963599920272827,
                        0.7071099877357483,
                        0.020490000024437904
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        0.48399999737739563,
                        0.8586900234222412,
                        0.16851000487804413,
                        -0.9042400121688843
                    ],
                    [
                        -0.3755599856376648,
                        0.029899999499320984,
                        0.9263200163841248,
                        -0.41460999846458435
                    ],
                    [
                        0.7903800010681152,
                        -0.5116199851036072,
                        0.33695998787879944,
                        0.17614999413490295
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        0.5717700123786926,
                        -0.819320023059845,
                        0.042399998754262924,
                        -0.9228600263595581
                    ],
                    [
                        0.011629999615252018,
                        -0.04357999935746193,
                        -0.9989799857139587,
                        0.3205600082874298
                    ],
                    [
                        0.820330023765564,
                        0.5716800093650818,
                        -0.015390000306069851,
                        0.10141000151634216
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "right_lid": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.08190000057220459,
                        0.9361199736595154,
                        -0.3420200049877167,
                        0.9254099726676941
                    ],
                    [
                        -0.9961900115013123,
                        -0.08715999871492386,
                        0.0,
                        0.010889999568462372
                    ],
                    [
                        -0.029810000211000443,
                        0.340719997882843,
                        0.9396899938583374,
                        0.012690000236034393
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        0.7071099877357483,
                        0.7071099877357483,
                        -0.0,
                        0.8862400054931641
                    ],
                    [
                        -0.2988399863243103,
                        0.2988399863243103,
                        -0.9063100218772888,
                        0.39566999673843384
                    ],
                    [
                        -0.6408600211143494,
                        0.6408600211143494,
                        0.4226199984550476,
                        0.15706999599933624
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.44093000888824463,
                        -0.8975200057029724,
                        0.005880000069737434,
                        0.8825100064277649
                    ],
                    [
                        0.37119999527931213,
                        0.18831999599933624,
                        0.9092599749565125,
                        -0.4305199980735779
                    ],
                    [
                        -0.8171799778938293,
                        -0.3987399935722351,
                        0.41620001196861267,
                        0.17917999625205994
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        0.05601999908685684,
                        -0.15333999693393707,
                        -0.9865800142288208,
                        0.47086000442504883
                    ],
                    [
                        -0.6403399705886841,
                        0.7526299953460693,
                        -0.153329998254776,
                        0.6918900012969971
                    ],
                    [
                        0.766040027141571,
                        0.6403399705886841,
                        -0.05601999908685684,
                        0.13207000494003296
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        1.0,
                        -0.0,
                        -0.0,
                        0.0
                    ],
                    [
                        -0.0,
                        0.8660299777984619,
                        -0.5,
                        0.7859399914741516
                    ],
                    [
                        0.0,
                        0.5,
                        0.8660299777984619,
                        0.017640000209212303
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        0.1885399967432022,
                        -0.044429998844861984,
                        0.9810600280761719,
                        -0.5155699849128723
                    ],
                    [
                        0.6287500262260437,
                        0.7728599905967712,
                        -0.08583000302314758,
                        0.6624600291252136
                    ],
                    [
                        -0.7544100284576416,
                        0.6330199837684631,
                        0.17364999651908875,
                        0.16256999969482422
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}