{
    "center": [
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    "extents": [
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        1.2511281248227415,
        2.141812359409284
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    "scale": [
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    "target_pose": [
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                1.0,
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    "contact_points_pose": [
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            [
                1.0,
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            [
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                6.123233995736766e-17,
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                0.0,
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            [
                -1.0,
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                6.123233995736766e-17,
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                0.0,
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    ],
    "transform_matrix": [
        [
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            0.0,
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    ],
    "functional_matrix": [
        [
            [
                6.123233995736766e-17,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
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        ],
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            [
                0.0,
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                0.0,
                1.0
            ]
        ]
    ],
    "orientation_point": [
        [
            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,
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            0.0,
            1.0
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    ],
    "contact_points_group": [
        [
            0,
            1
        ],
        [
            2,
            3
        ],
        [
            4,
            5
        ]
    ],
    "contact_points_mask": [
        true,
        true,
        true
    ],
    "contact_points_discription": [
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup.",
        "Grasping the side of the cup."
    ],
    "target_point_discription": [
        ""
    ],
    "functional_point_discription": [
        "Point0: The function point is inside the handle of the mug, and the function axis is perpendicular to the plane of the handle.",
        "Point1: The function point is at the bottom of the mug, and the function axis is perpendicular to the bottom of the cup, Used to put down the cup."
    ],
    "orientation_point_discription": [
        ""
    ]
}