{ "scale": 0.15, "transform_matrix": [ [ 1.0, -0.00011903762788278982, 4.05533064622432e-05, 0 ], [ 0.0001190376715385355, 1.0, -1.1077253248004126e-06, 0 ], [ -4.0553175495006144e-05, 1.112552695303748e-06, 1.0, 0.0638875737786293 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "init_qpos": [], "target_points": [], "contact_points": [ { "matrix": [ [ -0.040460001677274704, -0.0035600000992417336, 0.9991700053215027, 0.9679999947547913 ], [ 0.6541299819946289, 0.7558199763298035, 0.029179999604821205, 0.48096001148223877 ], [ -0.755299985408783, 0.654770016670227, -0.02824999950826168, 0.1055700033903122 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" }, { "matrix": [ [ -1.0, -0.0, 0.00011999999696854502, 0.8548700213432312 ], [ -0.0, 1.0, 3.9999998989515007e-05, 0.885670006275177 ], [ -0.00011999999696854502, 3.9999998989515007e-05, -1.0, -0.0008900000248104334 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" }, { "matrix": [ [ -1.0, -0.0, 0.00011999999696854502, 0.8302500247955322 ], [ -0.0, 1.0, 3.9999998989515007e-05, 0.8856599926948547 ], [ -0.00011999999696854502, 3.9999998989515007e-05, -1.0, 0.15211999416351318 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" }, { "matrix": [ [ -0.0, 0.00558000011369586, 0.9999799728393555, 0.988099992275238 ], [ 1.0, 9.999999747378752e-06, 0.0, 0.42590001225471497 ], [ -9.999999747378752e-06, 0.9999799728393555, -0.00558000011369586, 0.19019000232219696 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" }, { "matrix": [ [ -0.040460001677274704, -0.0035600000992417336, 0.9991700053215027, 0.9679700136184692 ], [ 0.6541299819946289, 0.7558199763298035, 0.029179999604821205, 0.48096001148223877 ], [ -0.755299985408783, 0.654770016670227, -0.02824999950826168, 0.29436999559402466 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" }, { "matrix": [ [ -9.999999747378752e-06, 0.023159999400377274, 0.9997299909591675, 0.9917700290679932 ], [ 1.0, 9.999999747378752e-06, 9.999999747378752e-06, 0.4258800148963928 ], [ -9.999999747378752e-06, 0.9997299909591675, -0.023159999400377274, 0.39996999502182007 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_0" } ], "functional_points": [ { "matrix": [ [ -0.0, 0.0027799999807029963, 1.0, -0.10402999818325043 ], [ 1.0, 0.0, 0.0, -0.2163500040769577 ], [ -0.0, 1.0, -0.0027799999807029963, -1.9999999494757503e-05 ], [ 0.0, 0.0, 0.0, 1.0 ] ], "base": "link_1" } ], "orientation_point": [], "contact_points_group": [], "contact_points_mask": [], "target_points_discription": [], "contact_points_discription": [], "functional_points_discription": [], "orientation_point_discription": [] }