{
    "scale": 1.5,
    "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": {
        "handle": [
            {
                "id": 0,
                "matrix": [
                    [
                        -0.1177000030875206,
                        0.08566000312566757,
                        0.9893500208854675,
                        -0.011130000464618206
                    ],
                    [
                        -0.03313000127673149,
                        -0.9960600137710571,
                        0.08229999989271164,
                        -0.23422999680042267
                    ],
                    [
                        0.9925000071525574,
                        -0.023089999333024025,
                        0.12007000297307968,
                        -0.16380000114440918
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 1,
                "matrix": [
                    [
                        -0.04633999988436699,
                        -0.03523999825119972,
                        0.9983000159263611,
                        -0.012360000051558018
                    ],
                    [
                        0.17655999958515167,
                        0.9833499789237976,
                        0.04290999844670296,
                        -0.24164000153541565
                    ],
                    [
                        -0.9832000136375427,
                        0.1782499998807907,
                        -0.039340000599622726,
                        0.19172999262809753
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 2,
                "matrix": [
                    [
                        0.17298999428749084,
                        -0.1561100035905838,
                        0.9724699854850769,
                        -0.04165999963879585
                    ],
                    [
                        -0.08715999871492386,
                        0.9810600280761719,
                        0.17298999428749084,
                        0.2101999968290329
                    ],
                    [
                        -0.9810600280761719,
                        -0.11467999964952469,
                        0.15610000491142273,
                        -0.15327000617980957
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 3,
                "matrix": [
                    [
                        -0.09212999790906906,
                        -0.2685000002384186,
                        0.958869993686676,
                        -0.03474999964237213
                    ],
                    [
                        -0.05713000148534775,
                        0.9628000259399414,
                        0.2641099989414215,
                        0.2116899937391281
                    ],
                    [
                        -0.9941099882125854,
                        -0.03044999949634075,
                        -0.1040399968624115,
                        0.277539998292923
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 4,
                "matrix": [
                    [
                        -0.08715999871492386,
                        -0.17298999428749084,
                        -0.9810600280761719,
                        0.03892999887466431
                    ],
                    [
                        -0.0,
                        0.9848099946975708,
                        -0.17364999651908875,
                        -0.23999999463558197
                    ],
                    [
                        0.9961900115013123,
                        -0.015130000188946724,
                        -0.08583000302314758,
                        0.31040000915527344
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            },
            {
                "id": 5,
                "matrix": [
                    [
                        -0.2588199973106384,
                        0.0,
                        -0.9659299850463867,
                        0.038759998977184296
                    ],
                    [
                        0.0,
                        1.0,
                        0.0,
                        -0.23999999463558197
                    ],
                    [
                        0.9659299850463867,
                        -0.0,
                        -0.2588199973106384,
                        -0.09313999861478806
                    ],
                    [
                        0.0,
                        0.0,
                        0.0,
                        1.0
                    ]
                ],
                "base": "base",
                "description": ""
            }
        ]
    }
}