{
    "center": [
        -0.007833746864621223,
        -0.0022654912798613365,
        0.0016650992135657293
    ],
    "extents": [
        0.2509047448933524,
        1.9083023715593477,
        0.2308803097005656
    ],
    "scale": [
        0.18,
        0.18,
        0.18
    ],
    "target_pose": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            -0.2
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.2
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "trans_matrix": [
        [
            6.123233995736766e-17,
            6.123233995736766e-17,
            -1.0,
            0.0
        ],
        [
            -1.0,
            3.749399456654644e-33,
            -6.123233995736766e-17,
            0.0
        ],
        [
            -0.0,
            1.0,
            6.123233995736766e-17,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ]
}