{
  "center": [0.0, 0.0, 0.061],
  "extents": [0.17, 0.245, 0.122],
  "scale": [1.091769115637405, 1.016666689390938, 1.0046028114837278],
  "target_pose": [
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.0],
      [0.0, 0.0, 0.0, 1.0]
    ]
  ],
  "contact_points_pose": [
    [
      [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]
    ]
  ],
  "transform_matrix": [
    [-1.0, 0.0, 0.0, -2.529771588468797e-05],
    [0.0, 0.0, 1.0, 5.520094733456144e-06],
    [0.0, 1.0, 0.0, 0.061337697821456394],
    [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, 0.0],
      [0.0, 0.0, 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, 0.0, 0.0, 1.0]
  ],
  "contact_points_group": [[0]],
  "contact_points_mask": [true],
  "contact_points_discription": [
    "Provisional grasp/contact reference at the canonical basket bottom-center origin."
  ],
  "target_point_discription": [
    "Provisional target reference at the canonical basket bottom-center origin."
  ],
  "functional_point_discription": [
    "Draft basket metadata with canonical frame fixed to x = width 17 cm, y = length 24.5 cm, z = height 12.2 cm, and the local origin at the center of the bottom face."
  ],
  "stable": false,
  "source": "Draft metadata generated from basket visual mesh bbox plus user-confirmed physical size 24.5 x 17 x 12.2 cm. Canonical frame uses x = width, y = length, z = height, and the local origin is the center of the bottom face."
}