For a $3$D Model. Final answer should be $6$x$6$ Matrix

Part $1(6$ pts$)$ Consider the simplified model of the gripper. The object diameter is $0\mathrm{.}03$ m ; each gripper finger is equal in length and $0\mathrm{.}05$ m $.$ The very tip points of the fingers are in touch with the object. The line that connects the contact points go through the origin of the object.

A$)$ For this given instance, please calculate the grasp matrix $($This grasp matrix should consider both of the contact points$).$

B$)$ If ${}_o^N=[-0\mathrm{.}2,0\mathrm{.}2,0,0,0,0\mathrm{.}05],$ where $N$ is the base frame located at the middle of the base, what are the twists in the contact points? You can utilize any mathematical software, but please explicitly explain your steps.