{
    "scale": [
        0.27,
        0.23,
        0.27
    ],
    "transform_matrix": [
        [
            1.0,
            0.0,
            0.0,
            0
        ],
        [
            0.0,
            1.0,
            0.0,
            0
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "init_qpos": [],
    "target_points": [],
    "contact_points": [
        {
            "matrix": [
                [
                    1.0,
                    -0.0,
                    0.0,
                    -0.4293000102043152
                ],
                [
                    0.0,
                    0.7659900188446045,
                    0.6428499817848206,
                    0.3380900025367737
                ],
                [
                    0.0,
                    -0.6428499817848206,
                    0.7659900188446045,
                    -0.2776699960231781
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.999180018901825,
                    -0.0377499982714653,
                    -0.014329999685287476,
                    -0.736270010471344
                ],
                [
                    0.02522999979555607,
                    0.8607699871063232,
                    -0.5083699822425842,
                    0.350739985704422
                ],
                [
                    0.031530000269412994,
                    0.5075899958610535,
                    0.861020028591156,
                    0.21807000041007996
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    0.9998199939727783,
                    0.011049999855458736,
                    -0.015359999611973763,
                    -0.4293000102043152
                ],
                [
                    -0.0018599999602884054,
                    0.8652399778366089,
                    0.5013599991798401,
                    0.39419999718666077
                ],
                [
                    0.01882999949157238,
                    -0.5012400150299072,
                    0.8651000261306763,
                    -0.18876999616622925
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.9986500144004822,
                    -0.045990001410245895,
                    -0.024159999564290047,
                    -0.7344300150871277
                ],
                [
                    0.03585999831557274,
                    0.9467899799346924,
                    -0.3198600113391876,
                    0.3989099860191345
                ],
                [
                    0.03759000077843666,
                    0.31856000423431396,
                    0.947160005569458,
                    0.1268399953842163
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    0.8656799793243408,
                    -0.5005999803543091,
                    0.0,
                    -0.4537000060081482
                ],
                [
                    0.3834500014781952,
                    0.663100004196167,
                    0.6428499817848206,
                    0.32785001397132874
                ],
                [
                    -0.3218100070953369,
                    -0.5565000176429749,
                    0.7659900188446045,
                    -0.27035000920295715
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.8464499711990356,
                    -0.5322800278663635,
                    -0.014329999685287476,
                    -0.7793700098991394
                ],
                [
                    0.452239990234375,
                    0.7328400015830994,
                    -0.5083600282669067,
                    0.34031999111175537
                ],
                [
                    0.28108999133110046,
                    0.42381998896598816,
                    0.8610299825668335,
                    0.2121099978685379
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    0.49939998984336853,
                    -0.8663700222969055,
                    0.0,
                    -0.4454599916934967
                ],
                [
                    0.6636300086975098,
                    0.3825399875640869,
                    0.6428499817848206,
                    0.3150399923324585
                ],
                [
                    -0.5569499731063843,
                    -0.32104000449180603,
                    0.7659900188446045,
                    -0.2611899971961975
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    0.4668999910354614,
                    -0.884190022945404,
                    -0.014329999685287476,
                    -0.7730200290679932
                ],
                [
                    0.7580699920654297,
                    0.4085400104522705,
                    -0.5083600282669067,
                    0.33006998896598816
                ],
                [
                    0.4553399980068207,
                    0.22649000585079193,
                    0.8610299825668335,
                    0.20705999433994293
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.001180000021122396,
                    -1.0,
                    0.0,
                    -0.4602299928665161
                ],
                [
                    0.7659900188446045,
                    -0.0008999999845400453,
                    0.6428499817848206,
                    0.29721999168395996
                ],
                [
                    -0.6428499817848206,
                    0.0007600000244565308,
                    0.7659900188446045,
                    -0.24844999611377716
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    -0.03725999966263771,
                    -0.9991999864578247,
                    -0.014329999685287476,
                    -0.7857000231742859
                ],
                [
                    0.8607900142669678,
                    -0.024809999391436577,
                    -0.5083600282669067,
                    0.31053000688552856
                ],
                [
                    0.5076000094413757,
                    -0.03127000108361244,
                    0.8610299825668335,
                    0.1995300054550171
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        },
        {
            "matrix": [
                [
                    -0.001180000021122396,
                    -1.0,
                    -0.0,
                    -0.4602299928665161
                ],
                [
                    0.9396600127220154,
                    -0.0011099999537691474,
                    0.34209999442100525,
                    0.33994999527931213
                ],
                [
                    -0.34209999442100525,
                    0.00039999998989515007,
                    0.9396600127220154,
                    -0.14846999943256378
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_0"
        },
        {
            "matrix": [
                [
                    -0.029829999431967735,
                    -0.9991999864578247,
                    -0.02652999944984913,
                    -0.7835999727249146
                ],
                [
                    0.9846500158309937,
                    -0.024809999391436577,
                    -0.17278000712394714,
                    0.358379989862442
                ],
                [
                    0.17197999358177185,
                    -0.03127000108361244,
                    0.9846000075340271,
                    0.10002999752759933
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_1"
        }
    ],
    "functional_points": [
        {
            "matrix": [
                [
                    0.0,
                    -1.0,
                    0.0,
                    -0.18519000709056854
                ],
                [
                    0.0,
                    0.0,
                    1.0,
                    0.2608700096607208
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    -0.25925999879837036
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_2"
        },
        {
            "matrix": [
                [
                    0.0,
                    -1.0,
                    0.0,
                    -0.18519000709056854
                ],
                [
                    0.0,
                    0.0,
                    1.0,
                    0.2608700096607208
                ],
                [
                    -1.0,
                    0.0,
                    0.0,
                    0.25925999879837036
                ],
                [
                    0.0,
                    0.0,
                    0.0,
                    1.0
                ]
            ],
            "base": "link_2"
        }
    ],
    "orientation_point": [],
    "contact_points_group": [],
    "contact_points_mask": [],
    "target_points_description": [],
    "contact_points_description": [],
    "functional_points_description": [],
    "orientation_point_description": []
}