{
    "scale": 0.05,
    "transform_matrix": [
        [
            -0.4227794408798218,
            -0.5378138422966003,
            0.7293930053710938,
            0
        ],
        [
            -0.438430517911911,
            -0.5830156803131104,
            -0.6840115189552307,
            0
        ],
        [
            0.7931182384490967,
            -0.608974039554596,
            0.010692775249481201,
            0.008538900874555111
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "init_qpos": [],
    "target_points": [],
    "contact_points": [
        {
            "matrix": [
                [
                    -0.0,
                    -1.0,
                    -0.0,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    -0.0,
                    0.0
                ],
                [
                    -0.0,
                    -0.0,
                    -1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    -0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    0.0,
                    0.0
                ],
                [
                    -0.0,
                    -0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    -0.0,
                    1.0,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    0.0,
                    0.0
                ],
                [
                    -0.0,
                    -1.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    0.0
                ],
                [
                    -0.0,
                    -0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    1.0,
                    0.0,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    0.0
                ],
                [
                    -0.0,
                    0.0,
                    1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    -0.0,
                    0.0
                ],
                [
                    -0.0,
                    0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    0.0,
                    -1.0,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    -0.0,
                    0.0
                ],
                [
                    -0.0,
                    1.0,
                    -0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.0,
                    -0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    -0.0,
                    0.0
                ],
                [
                    -0.0,
                    0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    0.0,
                    -1.0,
                    0.0,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    0.0,
                    -1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    -0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    -0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    -0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    0.0,
                    1.0,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    -0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    -1.0,
                    -0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    -0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    -0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    1.0,
                    -0.0,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    -0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    -0.0,
                    1.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    0.7071099877357483,
                    0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    -0.0,
                    -1.0,
                    0.0
                ],
                [
                    -1.0,
                    -0.0,
                    0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    1.0,
                    0.0,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.0,
                    -0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    -0.8799999952316284
                ],
                [
                    0.0,
                    0.7071099877357483,
                    -0.7071099877357483,
                    0.0
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        }
    ],
    "functional_points": [],
    "orientation_point": [],
    "contact_points_group": [
        [
            0,
            1,
            2,
            3,
            4,
            5,
            6,
            7
        ],
        [
            1,
            9,
            10,
            11,
            12,
            13,
            14,
            15
        ],
        [
            8,
            9,
            10,
            11,
            12,
            13,
            14,
            15
        ]
    ],
    "contact_points_mask": [
        true,
        true,
        true
    ],
    "target_points_discription": [],
    "contact_points_discription": [],
    "functional_points_discription": [],
    "orientation_point_discription": [],
    "mass": {
        "link_0": 0.001,
        "link_1": 0.1
    }
}