{
  "center": [0.0, 0.0, 0.0375],
  "extents": [0.115, 0.74, 0.075],
  "scale": [0.2722798966104581, 0.4029634658687189, 0.42286198542054276],
  "target_pose": [
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.075],
      [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, 0.0003635856267057822],
    [0.0, 0.0, 1.0, 0.003044103333422639],
    [0.0, 1.0, 0.0, 0.03495832691172202],
    [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]
    ],
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.0],
      [0.0, 0.0, 1.0, 0.075],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, 0.35],
      [0.0, 0.0, 1.0, 0.0375],
      [0.0, 0.0, 0.0, 1.0]
    ],
    [
      [1.0, 0.0, 0.0, 0.0],
      [0.0, 1.0, 0.0, -0.35],
      [0.0, 0.0, 1.0, 0.0375],
      [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 conveyor belt bottom-center origin."
  ],
  "target_point_discription": [
    "Center point on the canonical top surface of the conveyor belt. The canonical frame uses x = width 11.5 cm, y = length 70 cm, z = height 7.5 cm, and the local origin is the center of the bottom face."
  ],
  "functional_point_discription": [
    "Point 0: center of the canonical bottom face (local origin).",
    "Point 1: center of the canonical top face.",
    "Point 2: center of the +Y end face at mid-height, following the canonical length direction.",
    "Point 3: center of the -Y end face at mid-height, opposite the canonical length direction."
  ],
  "stable": false,
  "source": "Draft metadata generated from conveyer_belt visual mesh bbox plus user-confirmed physical size 70 x 11.5 x 7.5 cm. Canonical frame uses x = width, y = length, z = height, and the local origin is the center of the bottom face."
}