{ "center": [ 0.0017518197202793433, 0.35183034579050304, -0.00020456544051016736 ], "extents": [ 0.74581458923885, 0.7470083561782818, 1.9364970921012459 ], "scale": [ 0.05, 0.05, 0.05 ], "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": [ [ [ 0.0, 0.007189999800175428, 0.999970018863678, 0.0 ], [ -0.0, 0.999970018863678, -0.007189999800175428, 0.774150013923645 ], [ -1.0, -0.0, 0.0, -0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], [ [ 0.017969999462366104, -0.002850000048056245, -0.9998300075531006, 0.0 ], [ 0.0, 1.0, -0.002850000048056245, 0.774150013923645 ], [ 0.9998400211334229, 4.999999873689376e-05, 0.017969999462366104, -0.0 ], [ 0.0, 0.0, 0.0, 1.0 ] ], [ [ 0.0, -0.0006000000284984708, -1.0, 0.0 ], [ 0.0004900000058114529, 1.0, -0.0006000000284984708, 0.7035599946975708 ], [ 1.0, -0.0004900000058114529, 0.0, 0.6807100176811218 ], [ 0.0, 0.0, 0.0, 1.0 ] ] ], "functional_matrix": [], "orientation_point": [], "contact_points_group": [ [ 0, 1 ] ], "contact_points_mask": [ true ], "target_point_discription": [], "contact_points_discription": [], "functional_point_discription": [], "orientation_point_discription": [], "stable": true }