{
    "scale": 0.1,
    "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": {
        "body": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.0,
                        -0.8191499710083008,
                        -0.5735800266265869,
                        0.10000000149011612
                    ],
                    [
                        -0.0,
                        -0.5735800266265869,
                        0.8191499710083008,
                        -0.800000011920929
                    ],
                    [
                        -1.0,
                        0.0,
                        0.0,
                        0.0
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        -0.0,
                        0.9063100218772888,
                        -0.4226199984550476,
                        0.10000000149011612
                    ],
                    [
                        0.08715999871492386,
                        -0.42100998759269714,
                        -0.9028599858283997,
                        0.7932100296020508
                    ],
                    [
                        -0.9961900115013123,
                        -0.03683000057935715,
                        -0.07898999750614166,
                        0.2651999890804291
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "lens": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.9961900115013123,
                        -0.0,
                        -0.08715999871492386,
                        -0.4420599937438965
                    ],
                    [
                        0.0,
                        1.0,
                        -0.0,
                        -0.10000000149011612
                    ],
                    [
                        0.08715999871492386,
                        -0.0,
                        -0.9961900115013123,
                        0.23677000403404236
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}