{
    "scale": 1.4,
    "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": {
        "door_handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.0,
                        0.4226199984550476,
                        0.9063100218772888,
                        -0.6447200179100037
                    ],
                    [
                        0.0,
                        0.9063100218772888,
                        -0.4226199984550476,
                        -0.2904700040817261
                    ],
                    [
                        -1.0,
                        -0.0,
                        -0.0,
                        -0.08049000054597855
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}