{
    "center": [
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    "extents": [
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    "target_pose": [
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    "contact_points_pose": [
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        [
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        [
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            ],
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            ],
            [
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    ],
    "transform_matrix": [
        [
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        ],
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    ],
    "functional_matrix": [
        [
            [
                0.0,
                1.0,
                -6.123233995736766e-17,
                -0.8
            ],
            [
                1.0,
                0.0,
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            ],
            [
                0.0,
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            ],
            [
                0.0,
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        ]
    ],
    "orientation_point": [],
    "contact_points_group": [
        [
            0,
            1
        ],
        [
            2,
            3
        ],
        [
            4,
            5
        ]
    ],
    "contact_points_mask": [
        true,
        true,
        true
    ],
    "contact_points_discription": [
        "Handle center grip position for cabinet",
        "Handle center grip position for cabinet",
        "Handle left grip position for cabinet",
        "Handle left grip position for cabinet",
        "Handle right grip position for cabinet",
        "Handle right grip position for cabinet"
    ],
    "target_point_discription": [
        "The center of the cabinet."
    ],
    "functional_point_discription": [
        "Point0: Points where objects are placed inside the cabinet"
    ],
    "orientation_point_discription": [
        ""
    ],
    "model_type": "urdf"
}