{
  "center": [0.0, 0.0, 0.0],
  "extents": [0.05, 0.05, 0.05],
  "scale": [1.0, 1.0, 1.0],
  "target_pose": [
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.025],
      [0.0, 0.0, 0.0, 1.0]
    ]
  ],
  "contact_points_pose": [
    [
      [0.0, 0.0, 1.0, 0.0],
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 0.0, -1.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [-1.0, 0.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [0.0, 0.0, -1.0, 0.0],
      [-1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ]
  ],
  "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]
  ],
  "functional_matrix": [
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, -1.0, 0.0, 0.0],
      [0.0, 0.0, -1.0, -0.025],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, -1.0, 0.0, 0.0],
      [0.0, 0.0, -1.0, 0.025],
      [0.0, 0.0, 0.0, 1.0]
    ]
  ],
  "contact_points_description": [],
  "contact_points_group": [[0, 1, 2, 3]],
  "contact_points_mask": [true, true],
  "target_point_description": ["The center point on the top face of the 5cm block."],
  "functional_point_description": [
    "Point 0: center of the bottom face.",
    "Point 1: center of the top face."
  ],
  "stable": true,
  "source": "Derived from CycleManip create_box(half_size=(0.025,0.025,0.025)) used by beat_block_hammer_loop / beat_block_hammer_dynamic."
}