{
    "center": [
        0.0,
        -0.00016811525191823935,
        0.0
    ],
    "extents": [
        0.1720472085289657,
        0.0006833084868800526,
        0.10832602018490434
    ],
    "scale": [
        1,
        1,
        1
    ],
    "target_pose": [
        [
            [
                1.0,
                0.0,
                0.0,
                0.0
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.00016811525191823935
            ],
            [
                0.0,
                0.0,
                1.0,
                0.0
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ]
    ],
    "contact_points_pose": [
        [
            [
                -1.0,
                0.0,
                -1.2246467991473532e-16,
                0.04301180213224143
            ],
            [
                0.0,
                1.0,
                0.0,
                -0.00016811525191823935
            ],
            [
                1.2246467991473532e-16,
                0.0,
                -1.0,
                -0.027081505046226084
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                1.2246467991473532e-16,
                -7.498798913309288e-33,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                1.0,
                -0.00016811525191823935
            ],
            [
                1.2246467991473532e-16,
                1.0,
                -6.123233995736766e-17,
                0.027081505046226084
            ],
            [
                0.0,
                0.0,
                0.0,
                1.0
            ]
        ],
        [
            [
                -1.0,
                1.2246467991473532e-16,
                7.498798913309288e-33,
                0.0
            ],
            [
                0.0,
                6.123233995736766e-17,
                -1.0,
                -0.00016811525191823935
            ],
            [
                -1.2246467991473532e-16,
                -1.0,
                -6.123233995736766e-17,
                -0.027081505046226084
            ],
            [
                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": [],
    "orientation_point": [
        [
            1.0,
            0.0,
            0.0,
            0.0
        ],
        [
            0.0,
            1.0,
            0.0,
            0.00017353899152178697
        ],
        [
            0.0,
            0.0,
            1.0,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ],
    "contact_points_group": [
        [
            0,
            1
        ]
    ],
    "contact_points_mask": [
        true,
        true
    ],
    "contact_points_discription": [
        "Suction point of the upper right corner to the midpoint by half",
        "Grasp on midpoint of the bottom edge",
        "Grasp on midpoint of the bottom edge"
    ],
    "target_point_discription": [
        "Object centroid."
    ],
    "functional_point_discription": [
        ""
    ],
    "orientation_point_discription": [
        "OBB +Y reference."
    ]
}