{ "scale": 0.04, "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": { "cap": [ { "id": 0, "matrix": [ [ -1.0, 0.0, -0.0, -0.75 ], [ -0.0, 1.0, 0.0, 0.0 ], [ 0.0, 0.0, -1.0, 0.25 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" } ], "body": [ { "id": 0, "matrix": [ [ -1.0, 0.0, -0.0, 0.5 ], [ -0.0, 1.0, 0.0, -0.0 ], [ 0.0, 0.0, -1.0, 0.25 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "base", "description": "" } ] } }