{
    "center": [
        0.1427486297262463,
        0.14461210912124853,
        -0.023927129353537007
    ],
    "extents": [
        0.9196914818731963,
        1.0055728974761882,
        2.0336194929702707
    ],
    "scale": [
        0.08,
        0.08,
        0.08
    ],
    "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
        ]
    ],
    "target_pose": [],
    "contact_points_pose": [
        [
            [
                0.022679999470710754,
                -0.9997400045394897,
                0.0004600000102072954,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                0.0020200000144541264,
                0.9976199865341187,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                -0.022590000182390213,
                0.06894999742507935,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.9997400045394897,
                -0.0007999999797903001,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                -0.002360000042244792,
                -0.9976199865341187,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                0.02256999909877777,
                -0.06894999742507935,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.70660001039505,
                0.7072499990463257,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                0.706849992275238,
                0.7039899826049805,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                0.0327799990773201,
                0.06473000347614288,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.0004600000102072954,
                0.9997400045394897,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                0.9976199865341187,
                -0.0020200000144541264,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                0.06894999742507935,
                0.022590000182390213,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.7072499990463257,
                0.70660001039505,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                0.7039899826049805,
                -0.706849992275238,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                0.06473000347614288,
                -0.0327799990773201,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.9997400045394897,
                -0.0004600000102072954,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                -0.0020200000144541264,
                -0.9976199865341187,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                0.022590000182390213,
                -0.06894999742507935,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.70660001039505,
                -0.7072499990463257,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                -0.706849992275238,
                -0.7039899826049805,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                -0.0327799990773201,
                -0.06473000347614288,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.0004600000102072954,
                -0.9997400045394897,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                -0.9976199865341187,
                0.0020200000144541264,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                -0.06894999742507935,
                -0.022590000182390213,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.7072499990463257,
                -0.70660001039505,
                0.04196000099182129
            ],
            [
                0.06892000138759613,
                -0.7039899826049805,
                0.706849992275238,
                0.1687300056219101
            ],
            [
                -0.9973599910736084,
                -0.06473000347614288,
                0.0327799990773201,
                -0.05556999891996384
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.7063599824905396,
                -0.7074900269508362,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                -0.7070900201797485,
                -0.7037500143051147,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                -0.03280000016093254,
                -0.06471999734640121,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.0007999999797903001,
                -0.9997400045394897,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                -0.9976199865341187,
                0.002360000042244792,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                -0.06894999742507935,
                -0.02256999909877777,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.7074900269508362,
                -0.7063599824905396,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                -0.7037500143051147,
                0.7070900201797485,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                -0.06471999734640121,
                0.03280000016093254,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.9997400045394897,
                0.0007999999797903001,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                0.002360000042244792,
                0.9976199865341187,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                -0.02256999909877777,
                0.06894999742507935,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                -0.7063599824905396,
                0.7074900269508362,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                0.7070900201797485,
                0.7037500143051147,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                0.03280000016093254,
                0.06471999734640121,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.0007999999797903001,
                0.9997400045394897,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                0.9976199865341187,
                -0.002360000042244792,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                0.06894999742507935,
                0.02256999909877777,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                0.022679999470710754,
                0.7074900269508362,
                0.7063599824905396,
                0.027890000492334366
            ],
            [
                0.06892000138759613,
                0.7037500143051147,
                -0.7070900201797485,
                0.1259700059890747
            ],
            [
                -0.9973599910736084,
                0.06471999734640121,
                -0.03280000016093254,
                0.5883299708366394
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "functional_matrix": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.04915999993681908
            ],
            [
                0.0,
                1.0,
                -0.0,
                0.120619997382164
            ],
            [
                0.0,
                0.0,
                1.0,
                0.9528399705886841
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0,
            2,
            3,
            4,
            5,
            6,
            7,
            8
        ],
        [
            1,
            9,
            10,
            11,
            12,
            13,
            14,
            15
        ]
    ],
    "contact_points_mask": [
        true,
        true
    ],
    "target_point_discription": [],
    "contact_points_discription": [],
    "functional_point_discription": [],
    "orientation_point_discription": [],
    "stable": true
}