{
    "scale": 0.25,
    "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_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.9659299850463867,
                        -0.0,
                        -0.2588199973106384,
                        0.0
                    ],
                    [
                        -0.24321000277996063,
                        -0.3420200049877167,
                        -0.9076700210571289,
                        0.9200000166893005
                    ],
                    [
                        -0.08851999789476395,
                        0.9396899938583374,
                        -0.3303700089454651,
                        0.3199999928474426
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "right_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        0.9004700183868408,
                        0.04357999935746193,
                        -0.4327299892902374,
                        0.0
                    ],
                    [
                        0.39445000886917114,
                        -0.5009499788284302,
                        0.770359992980957,
                        -0.9200000166893005
                    ],
                    [
                        -0.18321000039577484,
                        -0.8643800020217896,
                        -0.46827998757362366,
                        0.3199999928474426
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ],
        "up_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.9961900115013123,
                        0.0,
                        -0.08715999871492386,
                        0.0
                    ],
                    [
                        -0.0,
                        1.0,
                        0.0,
                        0.0
                    ],
                    [
                        0.08715999871492386,
                        0.0,
                        -0.9961900115013123,
                        0.7200000286102295
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}