{
    "center": [
        0.017919181206473633,
        -0.00487254674902661,
        0.0203917261991159
    ],
    "extents": [
        0.08632270621639881,
        0.1300845592557177,
        0.23869577601949757
    ],
    "scale": [
        1,
        1,
        1
    ],
    "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_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
            ]
        ]
    ],
    "trans_matrix": [
        [
            0.0007963267107332633,
            -0.0,
            -0.9999996829318346,
            0.0
        ],
        [
            0.0,
            1.0,
            -0.0,
            0.0
        ],
        [
            0.9999996829318346,
            0.0,
            0.0007963267107332633,
            0.0
        ],
        [
            0.0,
            0.0,
            0.0,
            1.0
        ]
    ]
}