1
{"a":{"radius":0.5,"half_height":0.5},"b":{"radius":0.5,"half_height":0.5},"speculative_margin":5,"offset_b":[0.0,1.001,0.0],"orientation_a":[0.0,0.0,0.0,1.0],"orientation_b":[0.0,0.0,0.0,1.0]}