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CITATION.bib

@@ -0,0 +1,15 @@
+@misc{nova_scenesmith_prompt_scenes_2026,
+  author = {{RareSense}},
+  title = {Programmable Indoor Environments from SceneSmith Prompts},
+  year = {2026},
+  version = {1.0.0},
+  url = {https://huggingface.co/datasets/BoooomNing/nova-scenesmith}
+}
+
+@article{pfaff2026scenesmith,
+  title = {SceneSmith: Agentic Generation of Simulation-Ready Indoor Scenes},
+  author = {Pfaff, Nicholas and Cohn, Thomas and Zakharov, Sergey and Cory, Rick and Tedrake, Russ},
+  journal = {arXiv preprint arXiv:2602.09153},
+  year = {2026},
+  url = {https://arxiv.org/abs/2602.09153}
+}

CREDITS.md

@@ -0,0 +1,7 @@
+# Credits and licenses
+
+- **Nova3D scene programs, generated assets, and release metadata:** RareSense, Apache-2.0.
+- **Original descriptions:** [SceneSmith example scenes](https://huggingface.co/datasets/nepfaff/scenesmith-example-scenes), Nicholas Pfaff and collaborators, Apache-2.0. The descriptions retain their original wording and scene IDs.
+- **SceneEval descriptions:** SceneSmith attributes IDs 0–99 to SceneEval under MIT. The relevant license is included in `credits/`.
+
+This release contains Nova-generated scenes from the descriptions, not repackaged SceneSmith geometry. Simulator software and its trademarks remain with their respective owners.

LICENSE

@@ -0,0 +1,201 @@
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NOTICE

@@ -0,0 +1,6 @@
+Programmable Indoor Environments from SceneSmith Prompts
+Nova3D-generated assets and packaging: RareSense, 2026.
+Scene descriptions: SceneSmith authors and their credited upstream sources.
+SceneSmith source revision: 5425b6ac0ee7d5043af75f9ec78494cf5c94f3ca.
+Prompts with identifiers below 100 are attributed upstream to SceneEval (MIT).
+No original SceneSmith meshes or private Nova generation runtime are redistributed.

README.md

@@ -0,0 +1,114 @@
+---
+pretty_name: "Programmable Indoor Environments from SceneSmith Prompts"
+license: apache-2.0
+language:
+- en
+task_categories:
+- robotics
+size_categories:
+- n<1K
+tags:
+- simulation
+- indoor-scenes
+- scene-generation
+- embodied-ai
+- articulated-scenes
+- mujoco
+- isaac-sim
+- scenesmith
+configs:
+- config_name: scenes
+  data_files:
+  - split: collection
+    path: data/scenes.parquet
+---
+
+# Programmable Indoor Environments from SceneSmith Prompts
+
+**20 indoor simulation environments generated with [Nova3D](https://nova3d.xyz/robotics) from the original natural-language descriptions in [SceneSmith's released scene dataset](https://huggingface.co/datasets/nepfaff/scenesmith-example-scenes). Each environment includes editable scene source, semantic and spatial annotations, articulated mechanisms, physical properties, and native simulator exports.**
+
+[SceneSmith](https://scenesmith.github.io/) studies the generation of simulation-ready indoor scenes from natural language. This collection uses the same descriptions for a paired set of Nova3D generations: Nova3D generates and executes procedural code to construct each environment, including its geometry, objects, materials, and physical interactions. The shared prompt IDs connect each generated environment to its SceneSmith counterpart.
+
+The collection contains **four living rooms, three dining rooms, two bedrooms, two kitchens, two recreation rooms, and seven specialized settings**: an artist studio, science laboratory, library, dental office, server room, pet grooming salon, and bakery. All 20 were generated with **GPT-6 Astra** from text alone.
+
+## Contributions
+
+| Contribution | Included content | Research Applications |
+|---|---|---|
+| Shared scene descriptions | Original SceneSmith prompts and corresponding scene IDs. | Compare scene construction from the same requested objects and spatial relationships. |
+| Editable scene programs | Python geometry source and design specifications. | Inspect construction and produce controlled geometry, layout, and parameter variations. |
+| Object and part annotations | Named components, semantic classes, identifiers, positions, and dimensions. | Associate task targets with scene entities and inspect spatial constraints. |
+| Articulated mechanisms | Hinged and sliding parts with pivots, axes, limits, and damping. | Define opening and closing tasks; inspect mechanism travel and clearance. |
+| Rigid-body and contact properties | Collision geometry, mass, inertia, friction, and restitution. | Study passive dynamics, contact, and parameter sensitivity. |
+| Native simulator exports | USD, MJCF, SDF, and PyBullet files with their mesh and texture resources. | Examine how scene structure and physical declarations transfer between simulators. |
+| Visual assets and materials | Base GLB, rendered views, native material bindings, and textures. | Inspect scene composition and rendering alongside geometry and mechanics. |
+
+## Generation inputs
+
+Each scene received its unmodified original text description. SceneSmith images, meshes, and generated scene assets were not supplied as reconstruction inputs. IDs such as `scene_034` retain the upstream prompt-to-scene mapping.
+
+The 20 prompts follow the existing physics-audit sample: scene archive paths were ranked by a fixed seeded hash before inspection. The selection and upstream revision are recorded in [provenance](docs/PROVENANCE.md). The two systems share prompts, not model or compute budgets; this release provides paired assets rather than a controlled performance ranking.
+
+## Dataset Schema
+
+Paths are relative to this repository. Export columns identify included native files.
+
+| Column | Meaning |
+|---|---|
+| `preview_image` | Rendered scene overview. |
+| `environment` | Readable description of the setting. |
+| `scene_id` | Original SceneSmith scene and prompt identifier. |
+| `base_glb` | Base scene geometry and appearance in GLB. |
+| `source_code` | Full generated Python scene source. |
+| `isaac_sim_export` | Native USD files are included. |
+| `mujoco_export` | Native MuJoCo MJCF files are included. |
+| `gazebo_export` | Native Gazebo SDF files are included. |
+| `inputs` | Input description and upstream provenance record. |
+| `generation_model` | GPT-6 Astra. |
+| `part_count` | Number of pieces in the exported scene specification. |
+| `joint_count` | Number of parts declaring hinge or sliding motion. |
+| `parts` | Part identifiers, labels, bounds, and physical declarations. |
+| `articulation` | Joint-bearing parts with pivot, axis, limits, and body properties. |
+| `measurements` | Generated geometry bounds and dimensions in metres. |
+| `physics` | World and body physical parameters. |
+| `materials` | Texture paths and native material-binding locations. |
+| `isaac_usd` | USD scene entrypoint. |
+| `mujoco_mjcf` | MuJoCo XML entrypoint. |
+| `gazebo_sdf` | Gazebo world entrypoint. |
+| `category` | Indoor setting category. |
+
+## Download
+
+```bash
+pip install huggingface_hub
+```
+
+Download a complete scene archive:
+
+```python
+from huggingface_hub import hf_hub_download
+
+archive = hf_hub_download(
+    repo_id="BoooomNing/nova-scenesmith",
+    repo_type="dataset",
+    revision="v1.0.0",
+    filename="archives/scene_034.zip",
+    local_dir="nova-indoor-scenes",
+)
+```
+
+Extract it, then open an entrypoint below. The archive contains the same scene files listed in the dataset, with all relative dependencies retained.
+
+| Tool | File inside `scenes/<scene_id>/` |
+|---|---|
+| Isaac Sim | `simulation/environment.usda` |
+| MuJoCo | `simulation/environment.xml` |
+| Gazebo | `simulation/world.sdf` |
+| PyBullet | `simulation/run_pybullet.py` |
+| GLB viewer | `base/model.glb` |
+
+For all 20 archives, use `snapshot_download` with `allow_patterns=["archives/*", "LICENSE", "NOTICE", "CREDITS.md", "credits/*"]`. Individual scene files are also available under `scenes/`.
+
+## Attribution
+
+Scene descriptions are credited to [SceneSmith](https://scenesmith.github.io/) and its upstream sources, including SceneEval. Nova3D generated the released environments and scene programs. See [Credits and licenses](CREDITS.md), [Files](docs/DATA_GUIDE.md), and [Citation](CITATION.bib).

archives.json

@@ -0,0 +1,122 @@
+[
+  {
+    "scene_id": "scene_017",
+    "path": "archives/scene_017.zip",
+    "bytes": 8215387,
+    "sha256": "e2ec3f16f319715a8a55f3dea878bf469d044c855e04af2a249f265570fd8f40"
+  },
+  {
+    "scene_id": "scene_024",
+    "path": "archives/scene_024.zip",
+    "bytes": 5662219,
+    "sha256": "b90f8ca230653fbfecb3d8288ee30a650b28a4245788a36b611c411af9161d73"
+  },
+  {
+    "scene_id": "scene_028",
+    "path": "archives/scene_028.zip",
+    "bytes": 7074067,
+    "sha256": "7d46fdca99b4a30a1adc8408b85b3934cff31f82c03d16d415cf6f387fa5b180"
+  },
+  {
+    "scene_id": "scene_029",
+    "path": "archives/scene_029.zip",
+    "bytes": 4701142,
+    "sha256": "90ecb4a8da6e364af9b3dfbe81f58fc8db35f29ed0f91c875168b12d86e9a05a"
+  },
+  {
+    "scene_id": "scene_034",
+    "path": "archives/scene_034.zip",
+    "bytes": 6277154,
+    "sha256": "7f28b46d0bda5e009f38a4eb3e52ef32894c79a8076d51a949d6128a79bb8d35"
+  },
+  {
+    "scene_id": "scene_036",
+    "path": "archives/scene_036.zip",
+    "bytes": 18324483,
+    "sha256": "19908b00322bfb731e305e65b370d9313568278cfe3e7f7f19b7495c2ee14c48"
+  },
+  {
+    "scene_id": "scene_051",
+    "path": "archives/scene_051.zip",
+    "bytes": 4094541,
+    "sha256": "87abedb77ffce1bc91c48d793d0e8365747550c21f8f657f3443cbd6fb17f24d"
+  },
+  {
+    "scene_id": "scene_056",
+    "path": "archives/scene_056.zip",
+    "bytes": 9668941,
+    "sha256": "84548bb99cffdbfb214eea11b886403493c3a4503e46858b5bedb504619b4e89"
+  },
+  {
+    "scene_id": "scene_064",
+    "path": "archives/scene_064.zip",
+    "bytes": 6754604,
+    "sha256": "2d4a3ca5f7d78ecbb026ac6ee9eb8fc9f4a0b3d4e5c0c1bcad50df8317e0fe96"
+  },
+  {
+    "scene_id": "scene_084",
+    "path": "archives/scene_084.zip",
+    "bytes": 6782112,
+    "sha256": "c7b2cf8ab0a93e14ad0c84cb81ba7650129e3c606ab33a884cf908334fb2c4f3"
+  },
+  {
+    "scene_id": "scene_089",
+    "path": "archives/scene_089.zip",
+    "bytes": 5031525,
+    "sha256": "0d433fa03be5b0b905040169f7286386b9f989125cc5cc36b014e0aabdaf91b9"
+  },
+  {
+    "scene_id": "scene_119",
+    "path": "archives/scene_119.zip",
+    "bytes": 17792843,
+    "sha256": "de4d6007c7e2fc3a26e070b3a71af3df9d378891dc522c144f148faeebbb75d1"
+  },
+  {
+    "scene_id": "scene_125",
+    "path": "archives/scene_125.zip",
+    "bytes": 5076635,
+    "sha256": "7f28d434bc41432e27e645c6ec518adabb4460f63f22b389a667367817f5f024"
+  },
+  {
+    "scene_id": "scene_135",
+    "path": "archives/scene_135.zip",
+    "bytes": 3788271,
+    "sha256": "686c20d493eaf4b6f42b1ba7696a2c40c104fae547dc606a09c926389ca138c5"
+  },
+  {
+    "scene_id": "scene_138",
+    "path": "archives/scene_138.zip",
+    "bytes": 18075216,
+    "sha256": "5ca07dd78fdbf4990b6b9ad6f877f84d6cb86ed1b2a24b31575cac2edb24f7cb"
+  },
+  {
+    "scene_id": "scene_142",
+    "path": "archives/scene_142.zip",
+    "bytes": 3444694,
+    "sha256": "419234118f2f0db59d3b65c39d8c8ec6f2990e9c21ef2299cad71c86041e3ee1"
+  },
+  {
+    "scene_id": "scene_147",
+    "path": "archives/scene_147.zip",
+    "bytes": 6007470,
+    "sha256": "8b4ff929add294c22e17ef00bc7267da214649eac92c79be376462ce012a6dda"
+  },
+  {
+    "scene_id": "scene_161",
+    "path": "archives/scene_161.zip",
+    "bytes": 9190193,
+    "sha256": "c0458096da0142038863ab2fd19ca5d3d758a7c6de0a645c8b60ac27dc0e318e"
+  },
+  {
+    "scene_id": "scene_178",
+    "path": "archives/scene_178.zip",
+    "bytes": 2837362,
+    "sha256": "20e36bc5bb8024de19f38e6c5b543d37bc951f483362685ed25dd9e3b595b55c"
+  },
+  {
+    "scene_id": "scene_182",
+    "path": "archives/scene_182.zip",
+    "bytes": 3716944,
+    "sha256": "4b29c3a574b5f9720f59d0524375dc5e034ebac30f52c5dc0e004b41ebe48d53"
+  }
+]

docs/DATA_GUIDE.md

@@ -0,0 +1,18 @@
+# Files
+
+```text
+scenes/<scene_id>/
+  inputs/          original description and provenance
+  source/          scene program, design, and parameters
+  base/            GLB scene
+  simulation/      USD, MJCF, SDF, PyBullet, meshes, textures
+  metadata/        parts, articulation, measurements, physics, materials
+  previews/        rendered scene views
+  scene.json       scene index record
+  files.json       file sizes and SHA-256 hashes
+archives/<scene_id>.zip
+```
+
+Measurements describe generated geometry in metres. Native scenes use Z-up; the GLB frame is recorded in the scene specification. Joint records retain native pivots, axes, and limits; consult simulator files for local-frame interpretation. Physical parameters are authored values. Export availability does not imply a passed task or identical behavior across engines.
+
+The original public scene description is included as input data. Private generator instructions, execution infrastructure, account records, and operational logs are excluded.

docs/PROVENANCE.md

@@ -0,0 +1,13 @@
+# Prompt and scene provenance
+
+Source: [SceneSmith example scenes](https://huggingface.co/datasets/nepfaff/scenesmith-example-scenes), revision `5425b6ac0ee7d5043af75f9ec78494cf5c94f3ca`, `text_prompt_annotations.csv`.
+
+The existing audit selected the 20 archive paths with the smallest SHA-256 values of `nova-physics-audit-2026-10-06:` followed by the path, before inspecting selected scenes. All twenty resulting Nova generations are included. This is a selected engineering sample, not a claim of a representative population or a hidden evaluation split.
+
+Scene IDs match the author's CSV-to-archive convention. IDs below 100 originate in SceneEval, as attributed by SceneSmith. Prompt text is unchanged. Source descriptions and generated scene files are distinguished throughout the package.
+
+Nova generations used GPT-6 Astra. Each released scene is the completed candidate captured for its original project. The dataset packages existing results; release preparation does not regenerate, select for visual quality, or repair geometry. Private generation-attempt accounting remains in the research archive.
+
+Historical SceneSmith outputs used different models, assets, and budgets. Shared prompts permit paired inspection but do not isolate a model or method effect.
+
+Selected IDs: `scene_034`, `scene_182`, `scene_051`, `scene_029`, `scene_178`, `scene_036`, `scene_147`, `scene_089`, `scene_064`, `scene_028`, `scene_017`, `scene_119`, `scene_125`, `scene_024`, `scene_135`, `scene_056`, `scene_142`, `scene_161`, `scene_138`, `scene_084`.

release.json

@@ -0,0 +1,22 @@
+{
+  "version": "v1.0.0",
+  "scene_count": 20,
+  "source_dataset": "nepfaff/scenesmith-example-scenes",
+  "source_revision": "5425b6ac0ee7d5043af75f9ec78494cf5c94f3ca",
+  "generation_model": "GPT-6 Astra",
+  "conditioning": "text",
+  "category_counts": {
+    "dining room": 3,
+    "creative workspace": 1,
+    "bedroom": 2,
+    "living room": 4,
+    "recreation room": 2,
+    "laboratory": 1,
+    "kitchen": 2,
+    "library": 1,
+    "clinical workspace": 1,
+    "technical workspace": 1,
+    "service workspace": 1,
+    "retail workspace": 1
+  }
+}

scenes/scene_056/README.md

@@ -0,0 +1,17 @@
+# Living room with vintage typewriter
+
+SceneSmith prompt ID: `scene_056` · Generated with Nova3D using GPT-6 Astra.
+
+![Scene overview](previews/01_hero_3q_front_left.jpg)
+
+[Source code](source/asset.py) · [Input description](inputs/scene-description.txt) · [Part annotations](metadata/parts.json) · [Joint definitions](metadata/articulation.json)
+
+| Format | Entrypoint |
+|---|---|
+| Isaac Sim USD | [environment.usda](simulation/environment.usda) |
+| MuJoCo MJCF | [environment.xml](simulation/environment.xml) |
+| Gazebo SDF | [world.sdf](simulation/world.sdf) |
+| PyBullet | [run_pybullet.py](simulation/run_pybullet.py) |
+| GLB | [model.glb](base/model.glb) |
+
+Keep the complete scene folder to preserve mesh and texture references.

scenes/scene_056/inputs/manifest.json

@@ -0,0 +1,10 @@
+{
+  "scene_id": "scene_056",
+  "conditioning": "text",
+  "input": "scene-description.txt",
+  "source_dataset": "nepfaff/scenesmith-example-scenes",
+  "source_revision": "5425b6ac0ee7d5043af75f9ec78494cf5c94f3ca",
+  "source_file": "text_prompt_annotations.csv",
+  "source_row_id": 56,
+  "input_sha256": "d999a95fbe1b6a7dff7461ffe0519f8988459f0f73a9fc0f9df8379a19b8f469"
+}

scenes/scene_056/inputs/scene-description.txt

@@ -0,0 +1 @@
+A contemporary living room with a leather sofa, a small coffee table, and a vintage typewriter.

scenes/scene_056/metadata/articulation.json

@@ -0,0 +1,7 @@
+{
+  "units": {
+    "length": "metres",
+    "rotation": "radians"
+  },
+  "joints": []
+}

scenes/scene_056/metadata/materials.json

@@ -0,0 +1,42 @@
+{
+  "textures": [
+    "simulation/textures/object_0184.png",
+    "simulation/textures/object_0188.png",
+    "simulation/textures/object_0189.png",
+    "simulation/textures/object_0190.png",
+    "simulation/textures/object_0191.png",
+    "simulation/textures/object_0195.png",
+    "simulation/textures/object_0196.png",
+    "simulation/textures/object_0201.png",
+    "simulation/textures/object_0203.png",
+    "simulation/textures/object_0205.png",
+    "simulation/textures/object_0206.png",
+    "simulation/textures/object_0207.png",
+    "simulation/textures/object_0208.png",
+    "simulation/textures/object_0209.png",
+    "simulation/textures/object_0210.png",
+    "simulation/textures/object_0211.png",
+    "simulation/textures/object_0212.png",
+    "simulation/textures/object_0213.png",
+    "simulation/textures/object_0214.png",
+    "simulation/textures/object_0215.png",
+    "simulation/textures/object_0216.png",
+    "simulation/textures/object_0217.png",
+    "simulation/textures/object_0218.png",
+    "simulation/textures/object_0219.png",
+    "simulation/textures/object_0220.png",
+    "simulation/textures/object_0221.png",
+    "simulation/textures/object_0222.png",
+    "simulation/textures/object_0223.png",
+    "simulation/textures/object_0224.png",
+    "simulation/textures/object_0225.png",
+    "simulation/textures/object_0226.png",
+    "simulation/textures/object_0227.png",
+    "simulation/textures/object_0228.png"
+  ],
+  "material_bindings": [
+    "simulation/environment.usda",
+    "simulation/environment.xml",
+    "base/model.glb"
+  ]
+}

scenes/scene_056/metadata/measurements.json

@@ -0,0 +1,3730 @@
+{
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+  "up_axis": "Z",
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+          1.153
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+    },
+    {
+      "id": "object_0230",
+      "name": "terracotta_bud_vase",
+      "bounds_m": [
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+          0.73,
+          0.88
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+        [
+          2.526,
+          0.8500000000000001,
+          1.044
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+    },
+    {
+      "id": "object_0231",
+      "name": "low_olive_ceramic_bowl",
+      "bounds_m": [
+        [
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+          0.092,
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+        [
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+          0.28800000000000003,
+          0.5519999999999999
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+    }
+  ]
+}

scenes/scene_056/scene.json

@@ -0,0 +1,21 @@
+{
+  "environment": "Living room with vintage typewriter",
+  "scene_id": "scene_056",
+  "base_glb": "scenes/scene_056/base/model.glb",
+  "isaac_sim_export": "✓",
+  "mujoco_export": "✓",
+  "gazebo_export": "✓",
+  "inputs": "scenes/scene_056/inputs/manifest.json",
+  "generation_model": "GPT-6 Astra",
+  "part_count": 232,
+  "joint_count": 0,
+  "parts": "scenes/scene_056/metadata/parts.json",
+  "articulation": "scenes/scene_056/metadata/articulation.json",
+  "measurements": "scenes/scene_056/metadata/measurements.json",
+  "physics": "scenes/scene_056/metadata/physics.json",
+  "materials": "scenes/scene_056/metadata/materials.json",
+  "isaac_usd": "scenes/scene_056/simulation/environment.usda",
+  "mujoco_mjcf": "scenes/scene_056/simulation/environment.xml",
+  "gazebo_sdf": "scenes/scene_056/simulation/world.sdf",
+  "category": "living room"
+}

scenes/scene_056/simulation/meshes/object_0057.obj

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+

scenes/scene_056/simulation/meshes/object_0059.obj

@@ -0,0 +1,86 @@
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+

scenes/scene_056/simulation/meshes/object_0080.obj

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+

scenes/scene_056/simulation/meshes/object_0109.obj

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+

scenes/scene_056/simulation/meshes/object_0139.obj

@@ -0,0 +1,86 @@
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+

scenes/scene_056/simulation/meshes/object_0158.obj

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scenes/scene_056/simulation/meshes/object_0184_auto_05.obj

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+f 7//7 2//2 1//1
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+f 4//4 3//3 8//8
+f 3//3 5//5 8//8
+f 2//2 6//6 8//8
+f 8//8 5//5 2//2
+

scenes/scene_056/simulation/meshes/object_0191_auto_13.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -2.85800000 -0.04916667 2.38000000
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+f 4//4 3//3 8//8
+f 3//3 5//5 8//8
+f 2//2 6//6 8//8
+f 8//8 5//5 2//2
+

scenes/scene_056/simulation/meshes/object_0191_auto_14.obj

@@ -0,0 +1,30 @@
+# https://github.com/mikedh/trimesh
+v -2.85800000 -0.88750000 2.38000000
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+f 4//4 3//3 8//8
+f 3//3 5//5 8//8
+f 2//2 6//6 8//8
+f 8//8 5//5 2//2
+

scenes/scene_056/simulation/meshes/object_0201_auto_06.obj

@@ -0,0 +1,126 @@
+# https://github.com/mikedh/trimesh
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scenes/scene_056/simulation/meshes/object_0205_auto_10.obj

@@ -0,0 +1,30 @@
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+

scenes/scene_056/simulation/meshes/object_0207_auto_05.obj

@@ -0,0 +1,1526 @@
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scenes/scene_056/simulation/meshes/object_0230_auto_04.obj

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+

scenes/scene_056/simulation/run_pybullet.py

@@ -0,0 +1,239 @@
+"""Nova passive robot + environment launcher. Install pybullet; python run_pybullet.py.
+
+Static objects load as fixed concave meshes, or through their authored convex pieces
+when the scene supplied them. Terrain loads as a native PyBullet heightfield built
+from the same elevation grid MuJoCo uses. Movable objects (doors, drawers, lids, loose
+props) load from their own URDF: hinges/sliders are passive joints on a fixed anchor,
+free props are dynamic bodies. Push them in the GUI (ctrl+drag) or apply forces from
+your own script. Water regions, if any, apply buoyancy and drag through nova_water.py.
+No walking controller is supplied. --headless runs a bounded two-second smoke test.
+"""
+
+import argparse
+import importlib.util
+import json
+import struct
+import time
+from array import array
+from pathlib import Path
+
+
+def read_heightfield(directory, spec):
+    """Absolute heights in metres, row-major with rows along +Y, from the package's
+    MuJoCo-format grid: an int32 row/column header then normalized float32 values."""
+    payload = (directory / spec["file"]).read_bytes()
+    rows, cols = struct.unpack_from("<ii", payload, 0)
+    if (rows, cols) != (spec["rows"], spec["cols"]):
+        raise ValueError(f"{spec['file']}: grid header does not match the scene description")
+    values = array("f")
+    values.frombytes(payload[8 : 8 + 4 * rows * cols])
+    lowest, elevation = spec["lowest_m"], spec["elevation_m"]
+    return rows, cols, [lowest + value * elevation for value in values]
+
+
+def contact_properties(p, body, link, item):
+    """Lateral, rolling and spinning friction, matching the MJCF's friction triple."""
+    p.changeDynamics(
+        body,
+        link,
+        lateralFriction=item["friction"],
+        rollingFriction=item.get("rolling_friction", 0.0),
+        spinningFriction=item.get("torsional_friction", 0.0),
+        restitution=item["restitution"],
+    )
+
+
+def load_terrain(p, directory, item):
+    """Exact ground: the collision heightfield plus the same grid as a visible mesh.
+
+    PyBullet centres a heightfield on the midpoint of its own data range, so the body
+    is offset by that midpoint to put the surface back where the scene authored it.
+    """
+    spec = item["heightfield"]
+    rows, cols, heights = read_heightfield(directory, spec)
+    size_x, size_y = spec["size_m"]
+    center_x, center_y = spec["center_m"]
+    shape = p.createCollisionShape(
+        p.GEOM_HEIGHTFIELD,
+        meshScale=[size_x / (cols - 1), size_y / (rows - 1), 1.0],
+        heightfieldData=heights,
+        numHeightfieldRows=cols,
+        numHeightfieldColumns=rows,
+    )
+    middle = (min(heights) + max(heights)) / 2.0
+    body = p.createMultiBody(
+        baseMass=0, baseCollisionShapeIndex=shape, basePosition=[center_x, center_y, middle]
+    )
+    contact_properties(p, body, -1, item)
+    # The visual surface is already in world coordinates and must not be offset.
+    p.createMultiBody(
+        baseMass=0,
+        baseCollisionShapeIndex=-1,
+        baseVisualShapeIndex=p.createVisualShape(
+            p.GEOM_MESH, fileName=str(directory / item["mesh"]), rgbaColor=item["color"]
+        ),
+    )
+    return body
+
+
+def load_static(p, directory, item):
+    """A fixed object. It collides through the author's explicit convex pieces when it
+    has them — the same pieces MuJoCo, Isaac Sim and Gazebo use — and otherwise as an
+    exact concave mesh. A door frame's pieces are set back from the leaf; its visual
+    mesh carries hinge knuckles and stop beads millimetres from the door, and colliding
+    that would start every door inside its own frame."""
+    mesh = str(directory / item["mesh"])
+    pieces = item.get("collision") or []
+    if not item["collidable"]:
+        collision = -1
+    elif pieces:
+        collision = p.createCollisionShapeArray(
+            shapeTypes=[p.GEOM_MESH] * len(pieces),
+            fileNames=[str(directory / piece) for piece in pieces],
+        )
+    else:
+        collision = p.createCollisionShape(
+            p.GEOM_MESH, fileName=mesh, flags=p.GEOM_FORCE_CONCAVE_TRIMESH
+        )
+    visual = p.createVisualShape(p.GEOM_MESH, fileName=mesh, rgbaColor=item["color"])
+    body = p.createMultiBody(
+        baseMass=0, baseCollisionShapeIndex=collision, baseVisualShapeIndex=visual
+    )
+    contact_properties(p, body, -1, item)
+    return body
+
+
+def load_water(directory, config):
+    """Buoyancy and drag for the scene's water regions, or None when it has none."""
+    volumes = config.get("water_volumes") or []
+    if not volumes:
+        return None
+    spec = importlib.util.spec_from_file_location("nova_water", directory / "nova_water.py")
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module.PyBulletWater(volumes, config["gravity"])
+
+
+def load_movable(p, directory, item):
+    spec = item["body"]
+    body = p.loadURDF(
+        str(directory / spec["urdf"]),
+        basePosition=spec["origin"],
+        useFixedBase=spec["motion"] != "free",
+        flags=p.URDF_USE_INERTIA_FROM_FILE,
+    )
+    for link in range(-1, p.getNumJoints(body)):
+        contact_properties(p, body, link, item)
+    for joint in range(p.getNumJoints(body)):
+        if p.getJointInfo(body, joint)[2] in {p.JOINT_REVOLUTE, p.JOINT_PRISMATIC}:
+            p.changeDynamics(body, joint, jointDamping=spec["damping"])
+            if spec.get("drive"):
+                # Disable the default holding motor (target velocity 0, large
+                # force) that loadURDF leaves on every joint: it silently brakes
+                # the prescribed playback — the rotor lost a third of its rate.
+                p.setJointMotorControl2(body, joint, p.VELOCITY_CONTROL, force=0)
+                continue  # the motion program owns this joint
+            # A zero-velocity motor limited to the friction force is PyBullet's
+            # standard passive dry-friction model; it does not drive the joint.
+            p.setJointMotorControl2(
+                body, joint, p.VELOCITY_CONTROL, targetVelocity=0, force=spec["frictionloss"]
+            )
+    return body
+
+
+def load_motion(directory):
+    """The shared motion evaluators, shipped beside this launcher."""
+    path = directory / "nova_motion.py"
+    if not path.is_file():
+        return None
+    spec = importlib.util.spec_from_file_location("nova_motion", path)
+    module = importlib.util.module_from_spec(spec)
+    spec.loader.exec_module(module)
+    return module
+
+
+def apply_motion(p, motion, driven, t):
+    """Prescribed drives at time t: strong joint motors for oscillate/spin,
+    a direct kinematic pose for patrol bodies."""
+    for uid, spec in driven:
+        drive = spec["drive"]
+        if spec["motion"] == "kinematic":
+            position, yaw = motion.patrol_pose(drive, t)
+            p.resetBasePositionAndOrientation(
+                uid, list(position), p.getQuaternionFromEuler([0, 0, yaw])
+            )
+            continue
+        for joint in range(p.getNumJoints(uid)):
+            if p.getJointInfo(uid, joint)[2] not in {p.JOINT_REVOLUTE, p.JOINT_PRISMATIC}:
+                continue
+            # The prescribed trajectory is the authority, exactly as for patrol
+            # bodies: play it kinematically. A motor tracking the same sinusoid
+            # lagged a third of the amplitude at PyBullet's default gains and
+            # overshot its limits at stiffer ones.
+            p.resetJointState(
+                uid,
+                joint,
+                targetValue=motion.joint_position(drive, t),
+                targetVelocity=motion.joint_velocity(drive, t),
+            )
+
+
+def main():
+    import pybullet as p
+
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--headless", action="store_true")
+    args = parser.parse_args()
+    directory = Path(__file__).resolve().parent
+    config = json.loads((directory / "pybullet_scene.json").read_text())
+    client = p.connect(p.DIRECT if args.headless else p.GUI)
+    try:
+        p.setGravity(0, 0, -config["gravity"])
+        p.setTimeStep(0.002)
+        p.setRealTimeSimulation(0)
+        movable = 0
+        driven = []
+        for item in config["objects"]:
+            if item.get("heightfield"):
+                load_terrain(p, directory, item)
+            elif item.get("body"):
+                uid = load_movable(p, directory, item)
+                movable += 1
+                if item["body"].get("drive"):
+                    driven.append((uid, item["body"]))
+            else:
+                load_static(p, directory, item)
+        water = load_water(directory, config)
+        motion = load_motion(directory) if driven else None
+        if config.get("robot"):
+            robot = p.loadURDF(
+                str(directory / config["robot"]),
+                basePosition=config["spawn"],
+                useFixedBase=config["fixed_base"],
+                flags=p.URDF_USE_INERTIA_FROM_FILE,
+            )
+            for joint in range(p.getNumJoints(robot)):
+                if p.getJointInfo(robot, joint)[2] in {p.JOINT_REVOLUTE, p.JOINT_PRISMATIC}:
+                    p.setJointMotorControl2(robot, joint, p.VELOCITY_CONTROL, force=0)
+        steps = 0
+        while p.isConnected() and (not args.headless or steps < 1000):
+            if water is not None:
+                water.apply(p)
+            if motion is not None:
+                apply_motion(p, motion, driven, steps * 0.002)
+            p.stepSimulation()
+            steps += 1
+            if not args.headless:
+                time.sleep(0.002)
+        print(
+            f"Passive simulation finished after {steps} steps with {movable} movable "
+            f"environment bodies ({len(driven)} on prescribed drives). "
+            "No controller or training policy was run."
+        )
+    finally:
+        if p.isConnected(client):
+            p.disconnect(client)
+
+
+if __name__ == "__main__":
+    main()

scenes/scene_056/source/asset.py

@@ -0,0 +1,2285 @@
+"""QUIET KEYS — a synthetic contemporary living room, designed from text.
+
+R1: A complete single-level living room with connected cased entrance.
+R2: A cognac leather three-seat sofa with tailored cushions and seam piping.
+R3: A small oval oak coffee table with the vintage typewriter as its focal prop.
+R4: A vintage manual typewriter with a sculpted enamel chassis, stepped round
+keys, exposed ribbon spools, typebar basket, carriage, platen, paper bail,
+return lever and paper. The machine is one movable rigid prop; its internal
+keyboard, carriage and ribbon motion are visual construction, not simulation.
+
+All dimensions are assumed plausible domestic values, not measurements.
+The interior is 5.6 x 4.8 x 2.75 m. Origin is room floor centre, Z up, +Y north.
+The sofa faces -Y. A 1.2 m cased opening in the south wall gives access to a
+clear west-side route. No robot, controller or robot-specific clearance claim.
+The shell includes all four walls and a ceiling; interior review cameras show
+it without removing construction. The tall west window is fixed glazing.
+
+Geometry plan: box joinery for framing and cabinetry, rounded ring lofts for
+leather, extruded sections for trim, revolutions for pottery and lamp fittings,
+closed draped grids for curtains and paper, sweep tubes for piping and cable.
+Native collision is automatically decomposed; no arbitrary invisible proxies.
+Materials have stable names and separate appearance/contact coefficients.
+A small generated colour/legend atlas keeps the complete moving typewriter
+and each cushion one rigid object while retaining their visible construction.
+
+Physics ledger (estimated, dry indoor conditions): gravity 9.81 m/s2;
+floor friction .65, rug .85, leather .65, oak .60, enamel .55, rubber .90.
+Typewriter mass 7.4 kg, books .35–.8 kg, ceramic vessels .25–1.4 kg,
+upholstery is fixed to the static sofa. Prop COM inertias are explicitly
+labelled approximations to composite objects. Each free body's origin is its
+world COM at rest, and its mesh stays in world coordinates. All props are
+placed with bottom faces exactly on the intended support. Static furniture
+is an environment fixture. Curtains, rug and leather are rigid shaped solids;
+no fabric deformation, key linkage, typing, electrical or light simulation.
+
+Validation plan: parse source; build every target; inspect dimensions, counts,
+contacts, native masses and mechanism settling reports; inspect room-scale,
+seated-eye and typewriter close-up captures. A build is not robot-task proof.
+Isaac Sim and Gazebo execution remain untested unless a report says otherwise.
+"""
+
+from dataclasses import dataclass
+import math
+import numpy as np
+import trimesh
+from shapely.geometry import Polygon
+from PIL import Image, ImageDraw, ImageFont
+from nova_robotics.scene import Environment, RigidBody
+
+
+ROOM_W = 5.60
+ROOM_D = 4.80
+ROOM_H = 2.75
+WALL_T = 0.16
+SLAB_T = 0.18
+FLOOR_T = 0.016
+ENTRY_X = -1.75
+ENTRY_W = 1.20
+ENTRY_H = 2.20
+WINDOW_Y = 0.35
+WINDOW_W = 2.60
+WINDOW_SILL = 0.62
+WINDOW_HEAD = 2.44
+SOFA_X = 0.10
+SOFA_Y = 1.52
+SOFA_W = 2.60
+SOFA_D = 0.94
+SOFA_SEAT_Z = 0.455
+SOFA_BASE_Z = 0.235
+TABLE_X = 0.02
+TABLE_Y = 0.03
+TABLE_W = 1.16
+TABLE_D = 0.70
+RUG_Z = 0.024
+TABLE_TOP_Z = 0.405
+TABLE_TOP_T = 0.032
+WRITER_X = -0.10
+WRITER_Y = 0.04
+WRITER_BASE_Z = TABLE_TOP_Z
+WRITER_YAW = math.radians(-7)
+BOOKCASE_X = 2.46
+BOOKCASE_Y = 0.64
+BOOKCASE_W = 1.56
+BOOKCASE_D = 0.38
+BOOKCASE_H = 0.88
+SEED = 17
+
+
+@dataclass(frozen=True)
+class Finish:
+    name: str
+    color: tuple
+    roughness: float
+    friction: float
+
+
+PLASTER = Finish('warm_lime_plaster', (0.79, 0.77, 0.70, 1), .94, .65)
+CEILING = Finish('ceiling_chalk', (.91, .90, .85, 1), .98, .65)
+OAK = Finish('pale_oak', (.56, .39, .22, 1), .55, .60)
+OAK_LIGHT = Finish('oak_light_grain', (.65, .48, .29, 1), .58, .60)
+OAK_DARK = Finish('oak_end_grain', (.40, .27, .15, 1), .62, .60)
+FLOOR_OAK = Finish('floor_natural_oak', (.52, .39, .27, 1), .62, .65)
+LEATHER = Finish('cognac_leather', (.47, .205, .085, 1), .43, .65)
+LEATHER_LIGHT = Finish('leather_highlights', (.54, .270, .120, 1), .44, .65)
+LEATHER_DARK = Finish('leather_seams', (.31, .120, .044, 1), .53, .65)
+IRON = Finish('satin_black_metal', (.029, .035, .034, 1), .35, .55)
+ENAMEL = Finish('typewriter_black_enamel', (.034, .047, .045, 1), .24, .55)
+NICKEL = Finish('brushed_nickel', (.51, .55, .53, 1), .27, .50)
+BRASS = Finish('aged_brass', (.52, .37, .15, 1), .32, .50)
+RUBBER = Finish('rubber', (.018, .020, .018, 1), .84, .90)
+IVORY = Finish('keytop_ivory', (.87, .83, .68, 1), .48, .55)
+PAPER = Finish('warm_paper', (.93, .90, .78, 1), .92, .60)
+INK = Finish('ink', (.065, .069, .060, 1), .70, .60)
+RUG = Finish('oatmeal_woven_rug', (.64, .59, .49, 1), .98, .85)
+RUG_EDGE = Finish('rug_binding', (.43, .40, .33, 1), .95, .85)
+LINEN = Finish('curtain_natural_linen', (.80, .77, .66, 1), .98, .65)
+CERAMIC = Finish('chalk_ceramic', (.80, .79, .71, 1), .38, .60)
+TERRA = Finish('terracotta', (.50, .23, .14, 1), .90, .60)
+OLIVE = Finish('olive_green', (.24, .29, .19, 1), .75, .60)
+CHARCOAL = Finish('charcoal_bookcloth', (.10, .13, .13, 1), .89, .60)
+RED = Finish('oxide_red_bookcloth', (.35, .105, .067, 1), .88, .60)
+GLASS = Finish('window_glass', (.68, .81, .82, .23), .13, .50)
+ART_BG = Finish('art_paper', (.83, .79, .67, 1), .99, .60)
+ART_OCHRE = Finish('art_ochre', (.61, .39, .16, 1), .98, .60)
+ART_BLACK = Finish('art_charcoal', (.075, .087, .078, 1), .99, .60)
+
+
+PALETTE = [
+    PLASTER, CEILING, OAK, OAK_LIGHT, OAK_DARK,
+    FLOOR_OAK, LEATHER, LEATHER_LIGHT, LEATHER_DARK,
+    IRON, ENAMEL, NICKEL, BRASS, RUBBER, IVORY,
+    PAPER, INK, RUG, RUG_EDGE, LINEN, CERAMIC,
+    TERRA, OLIVE, CHARCOAL, RED, ART_BG,
+    ART_OCHRE, ART_BLACK,
+]
+PALETTE_INDEX = {finish.name: i for i, finish in enumerate(PALETTE)}
+ATLAS_SIZE = 1024
+TILE = 64
+ATLAS_COLUMNS = 16
+KEY_LEGENDS = '1234567890QWERTYUIOPASDFGHJKLZXCVBNM,.;/-'
+
+
+def colour_bytes(finish):
+    return tuple(int(round(255 * c)) for c in finish.color)
+
+
+def make_atlas():
+    atlas = Image.new('RGBA', (ATLAS_SIZE, ATLAS_SIZE), (255, 255, 255, 255))
+    draw = ImageDraw.Draw(atlas)
+    for i, finish in enumerate(PALETTE):
+        x = (i % ATLAS_COLUMNS) * TILE
+        y = (i // ATLAS_COLUMNS) * TILE
+        draw.rectangle((x, y, x + TILE - 1, y + TILE - 1), fill=colour_bytes(finish))
+    font = ImageFont.load_default(size=31)
+    for i, letter in enumerate(KEY_LEGENDS):
+        cell = 64 + i
+        x = (cell % ATLAS_COLUMNS) * TILE
+        y = (cell // ATLAS_COLUMNS) * TILE
+        draw.rectangle((x, y, x + 63, y + 63), fill=colour_bytes(IVORY))
+        bounds = draw.textbbox((0, 0), letter, font=font)
+        tw = bounds[2] - bounds[0]
+        th = bounds[3] - bounds[1]
+        draw.text((x + (64 - tw) / 2, y + (64 - th) / 2 - bounds[1]),
+                  letter, fill=colour_bytes(INK), font=font)
+    return atlas
+
+
+ATLAS = make_atlas()
+
+
+def box_mesh(size, center):
+    mesh = trimesh.creation.box(extents=size)
+    mesh.unmerge_vertices()
+    mesh.apply_translation(center)
+    return mesh
+
+
+def cylinder(radius, height, center, axis=(0, 0, 1), sections=32):
+    mesh = trimesh.creation.cylinder(radius=radius, height=height, sections=sections)
+    direction = np.array(axis, dtype=float)
+    direction /= np.linalg.norm(direction)
+    rotation = trimesh.geometry.align_vectors((0, 0, 1), direction)
+    mesh.apply_transform(rotation)
+    mesh.apply_translation(center)
+    return mesh
+
+
+def rod_between(start, end, radius, sections=16):
+    start = np.array(start, dtype=float)
+    end = np.array(end, dtype=float)
+    delta = end - start
+    assert np.linalg.norm(delta) > 1e-6
+    return cylinder(radius, np.linalg.norm(delta), (start + end) / 2,
+                    axis=delta, sections=sections)
+
+
+def rounded_outline(width, depth, radius, samples=9):
+    assert width > 2 * radius and depth > 2 * radius
+    points = []
+    for cx, cy, begin in [
+        (width / 2 - radius, depth / 2 - radius, 0),
+        (-width / 2 + radius, depth / 2 - radius, 90),
+        (-width / 2 + radius, -depth / 2 + radius, 180),
+        (width / 2 - radius, -depth / 2 + radius, 270),
+    ]:
+        for angle in np.linspace(begin, begin + 90, samples, endpoint=False):
+            a = math.radians(angle)
+            points.append((cx + radius * math.cos(a), cy + radius * math.sin(a)))
+    return np.array(points)
+
+
+def ring_loft(rings):
+    rings = np.asarray(rings, dtype=float)
+    count, sides, dimensions = rings.shape
+    assert dimensions == 3 and count > 1
+    vertices = rings.reshape((-1, 3)).tolist()
+    faces = []
+    for level in range(count - 1):
+        for i in range(sides):
+            j = (i + 1) % sides
+            a = level * sides + i
+            b = level * sides + j
+            c = (level + 1) * sides + i
+            d = (level + 1) * sides + j
+            faces.extend([(a, b, d), (a, d, c)])
+    vertices.append(rings[0].mean(axis=0).tolist())
+    bottom = len(vertices) - 1
+    vertices.append(rings[-1].mean(axis=0).tolist())
+    top = len(vertices) - 1
+    for i in range(sides):
+        j = (i + 1) % sides
+        faces.append((bottom, j, i))
+        faces.append((top, (count - 1) * sides + i, (count - 1) * sides + j))
+    mesh = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
+    mesh.fix_normals()
+    assert mesh.is_volume, 'Loft must be a closed positive solid'
+    return mesh
+
+
+def rounded_block(size, center, radius=.02, edge=.008, samples=10):
+    width, depth, height = size
+    radius = min(radius, width * .44, depth * .44)
+    edge = min(edge, height * .35, radius * .60)
+    levels = [
+        (-height / 2, edge),
+        (-height / 2 + edge * .30, edge * .30),
+        (-height / 2 + edge, 0),
+        (height / 2 - edge, 0),
+        (height / 2 - edge * .30, edge * .30),
+        (height / 2, edge),
+    ]
+    rings = []
+    for z, inset in levels:
+        boundary = rounded_outline(width - 2 * inset, depth - 2 * inset,
+                                   max(radius - inset, .00001), samples)
+        rings.append(np.column_stack((boundary, np.full(len(boundary), z))))
+    mesh = ring_loft(rings)
+    mesh.apply_translation(center)
+    return mesh
+
+
+def ellipse_slab(width, depth, thickness, center, bevel=.004, sides=80):
+    angles = np.linspace(0, 2 * np.pi, sides, endpoint=False)
+    rings = []
+    for z, inset in [(-thickness / 2, bevel),
+                     (-thickness / 2 + bevel, 0),
+                     (thickness / 2 - bevel, 0),
+                     (thickness / 2, bevel)]:
+        ring = np.column_stack(((width / 2 - inset) * np.cos(angles),
+                                (depth / 2 - inset) * np.sin(angles),
+                                np.full(sides, z)))
+        rings.append(ring)
+    mesh = ring_loft(rings)
+    mesh.apply_translation(center)
+    return mesh
+
+
+def revolve(profile, center=(0, 0, 0), sections=64):
+    points = np.asarray(profile, dtype=float)
+    if not np.allclose(points[0], points[-1]):
+        points = np.vstack((points, points[0]))
+    mesh = trimesh.creation.revolve(points, sections=sections)
+    mesh.fix_normals()
+    assert mesh.is_volume, 'Revolution must be a closed volume'
+    mesh.apply_translation(center)
+    return mesh
+
+
+def tube(path, radius, sides=12):
+    angles = np.linspace(0, 2 * np.pi, sides, endpoint=False)
+    section = Polygon(np.column_stack((radius * np.cos(angles), radius * np.sin(angles))))
+    mesh = trimesh.creation.sweep_polygon(section, np.asarray(path, dtype=float))
+    mesh.fix_normals()
+    assert mesh.is_volume, 'Sweep must be capped and closed'
+    return mesh
+
+
+def trim_profile(length, height=.10, depth=.018):
+    points = [
+        (0, 0), (depth, 0), (depth, height - .012),
+        (depth - .004, height - .005), (depth - .010, height), (0, height),
+    ]
+    mesh = trimesh.creation.extrude_polygon(Polygon(points), height=length)
+    mesh.fix_normals()
+    assert mesh.is_volume
+    return mesh
+
+
+def rotate_about(mesh, angle, axis, point):
+    mesh.apply_transform(trimesh.transformations.rotation_matrix(angle, axis, point))
+    return mesh
+
+
+def local_to_world(mesh, translation, yaw=0):
+    if yaw:
+        mesh.apply_transform(trimesh.transformations.rotation_matrix(yaw, (0, 0, 1)))
+    mesh.apply_translation(translation)
+    return mesh
+
+
+def material_uv(mesh, finish):
+    if finish in (LEATHER, LEATHER_LIGHT, LEATHER_DARK, OAK, OAK_LIGHT, OAK_DARK, LINEN):
+        return surface_tile_uv(mesh, finish)
+    index = PALETTE_INDEX[finish.name]
+    x = (index % ATLAS_COLUMNS + .5) / ATLAS_COLUMNS
+    y = 1 - (index // ATLAS_COLUMNS + .5) / ATLAS_COLUMNS
+    return np.tile((x, y), (len(mesh.vertices), 1))
+
+
+def key_uv(mesh, letter, x, y, radius):
+    index = 64 + KEY_LEGENDS.index(letter)
+    col = index % ATLAS_COLUMNS
+    row = index // ATLAS_COLUMNS
+    uv = np.empty((len(mesh.vertices), 2))
+    uv[:, 0] = (col + .5 + .43 * (mesh.vertices[:, 0] - x) / radius) / 16
+    uv[:, 1] = 1 - (row + .5 - .43 * (mesh.vertices[:, 1] - y) / radius) / 16
+    return uv
+
+
+class Assembly:
+    def __init__(self):
+        self.meshes = []
+        self.uvs = []
+
+    def add(self, mesh, finish, uv=None):
+        assert len(mesh.faces) and np.isfinite(mesh.vertices).all()
+        closed = mesh.copy()
+        closed.merge_vertices(merge_tex=True, merge_norm=True)
+        assert closed.is_volume, "Assembly member must be a closed solid"
+        self.meshes.append(mesh)
+        self.uvs.append(material_uv(mesh, finish) if uv is None else uv)
+        return mesh
+
+    def box(self, size, center, finish):
+        return self.add(box_mesh(size, center), finish)
+
+    def cyl(self, radius, height, center, finish, axis=(0, 0, 1), sections=24):
+        return self.add(cylinder(radius, height, center, axis, sections), finish)
+
+    def rod(self, start, end, radius, finish, sections=16):
+        return self.add(rod_between(start, end, radius, sections), finish)
+
+    def rounded(self, size, center, finish, radius=.02, edge=.006):
+        return self.add(rounded_block(size, center, radius, edge), finish)
+
+    def mesh(self, name):
+        result = trimesh.util.concatenate(self.meshes)
+        result.visual = trimesh.visual.TextureVisuals(
+            uv=np.vstack(self.uvs),
+            material=trimesh.visual.material.PBRMaterial(
+                name=name,
+                baseColorTexture=ATLAS.resize((512, 512)),
+                baseColorFactor=(255, 255, 255, 255),
+                metallicFactor=0.0,
+                roughnessFactor=.37 if 'sofa' in name else .26 if 'typewriter' in name else .45,
+            ),
+        )
+        return result
+
+
+def register(world, name, mesh, finish, semantic='furniture', body=None, collidable=True, collision_meshes=None):
+    return world.add_mesh(
+        name,
+        mesh,
+        color=finish.color,
+        roughness=finish.roughness,
+        friction=finish.friction,
+        restitution=0.0,
+        semantic_class=semantic,
+        body=body,
+        collidable=collidable,
+        collision_meshes=collision_meshes,
+    )
+
+
+def fixed_box(world, name, size, center, finish, semantic='structure'):
+    return register(world, name, box_mesh(size, center), finish, semantic)
+
+
+def free_body(mesh, mass, provenance):
+    bounds = mesh.bounds
+    size = bounds[1] - bounds[0]
+    center = (bounds[0] + bounds[1]) / 2
+    return RigidBody.box(
+        mass=mass,
+        size=tuple(size),
+        origin=tuple(center),
+        motion='free',
+        provenance=provenance + '; estimated mass and uniform envelope COM inertia',
+    )
+
+
+def screw(assembly, center, axis=(0, 0, 1), radius=.003, finish=NICKEL):
+    head = revolve([
+        (0, -.001), (radius * .70, -.001), (radius, 0),
+        (radius, .0008), (radius * .65, .0015), (0, .0015),
+    ], sections=12)
+    head.apply_transform(trimesh.geometry.align_vectors((0, 0, 1), axis))
+    head.apply_translation(center)
+    assembly.add(head, finish)
+
+
+def metal_bracket(assembly, center, width=.035, height=.07, reach=.05):
+    x, y, z = center
+    assembly.box((width, .003, height), (x, y, z + height / 2), IRON)
+    assembly.box((width, reach, .003), (x, y - reach / 2, z), IRON)
+    for dz in (.015, height - .015):
+        screw(assembly, (x, y - .002, z + dz), (0, -1, 0))
+    screw(assembly, (x, y - reach + .012, z + .002))
+
+
+def rubber_foot(assembly, x, y, bottom, radius=.022, height=.018):
+    profile = [
+        (0, 0), (radius * .78, 0), (radius, .003),
+        (radius, height - .003), (radius * .82, height), (0, height),
+    ]
+    assembly.add(revolve(profile, (x, y, bottom), sections=24), RUBBER)
+
+
+def floor_planks(world):
+    fixed_box(world, 'structural_floor_slab',
+              (ROOM_W + 2 * WALL_T, ROOM_D + 2 * WALL_T, SLAB_T),
+              (0, 0, -SLAB_T / 2 - FLOOR_T), OAK_DARK, 'floor')
+    plank_width = .175
+    plank_length = 1.12
+    rng = np.random.default_rng(SEED)
+    row_count = int(math.ceil(ROOM_W / plank_width))
+    for row in range(row_count):
+        xmin = -ROOM_W / 2 + row * plank_width
+        xmax = min(xmin + plank_width, ROOM_W / 2)
+        if xmax - xmin < .001:
+            continue
+        stagger = (row % 3) * plank_length / 3
+        y = -ROOM_D / 2 - stagger
+        column = 0
+        while y < ROOM_D / 2:
+            lo = max(y, -ROOM_D / 2)
+            hi = min(y + plank_length, ROOM_D / 2)
+            if hi - lo > .015:
+                shift = rng.uniform(-.032, .035)
+                colour = tuple(max(.02, min(.95, c + shift)) for c in FLOOR_OAK.color[:3]) + (1,)
+                finish = Finish('floor_plank_tone', colour, .64, .65)
+                fixed_box(world, f'oak_floor_board_{row:02d}_{column:02d}',
+                          (xmax - xmin - .0013, hi - lo - .0013, FLOOR_T),
+                          ((xmin + xmax) / 2, (lo + hi) / 2, -FLOOR_T / 2),
+                          finish, 'floor')
+            y += plank_length
+            column += 1
+
+
+def room_shell(world):
+    floor_planks(world)
+    fixed_box(world, 'north_plastered_wall',
+              (ROOM_W + 2 * WALL_T, WALL_T, ROOM_H),
+              (0, ROOM_D / 2 + WALL_T / 2, ROOM_H / 2), PLASTER)
+    fixed_box(world, 'east_plastered_wall',
+              (WALL_T, ROOM_D, ROOM_H),
+              (ROOM_W / 2 + WALL_T / 2, 0, ROOM_H / 2), PLASTER)
+    entry_left = ENTRY_X - ENTRY_W / 2
+    entry_right = ENTRY_X + ENTRY_W / 2
+    west_width = entry_left + ROOM_W / 2
+    east_width = ROOM_W / 2 - entry_right
+    fixed_box(world, 'south_wall_west_pier',
+              (west_width, WALL_T, ROOM_H),
+              (-ROOM_W / 2 + west_width / 2, -ROOM_D / 2 - WALL_T / 2, ROOM_H / 2), PLASTER)
+    fixed_box(world, 'south_wall_east_pier',
+              (east_width, WALL_T, ROOM_H),
+              (entry_right + east_width / 2, -ROOM_D / 2 - WALL_T / 2, ROOM_H / 2), PLASTER)
+    fixed_box(world, 'entry_opening_header',
+              (ENTRY_W, WALL_T, ROOM_H - ENTRY_H),
+              (ENTRY_X, -ROOM_D / 2 - WALL_T / 2, (ROOM_H + ENTRY_H) / 2), PLASTER)
+    win_start = WINDOW_Y - WINDOW_W / 2
+    win_end = WINDOW_Y + WINDOW_W / 2
+    fixed_box(world, 'west_window_sill_wall',
+              (WALL_T, WINDOW_W, WINDOW_SILL),
+              (-ROOM_W / 2 - WALL_T / 2, WINDOW_Y, WINDOW_SILL / 2), PLASTER)
+    fixed_box(world, 'west_window_header_wall',
+              (WALL_T, WINDOW_W, ROOM_H - WINDOW_HEAD),
+              (-ROOM_W / 2 - WALL_T / 2, WINDOW_Y, (ROOM_H + WINDOW_HEAD) / 2), PLASTER)
+    for name, lo, hi in [('south', -ROOM_D / 2, win_start),
+                         ('north', win_end, ROOM_D / 2)]:
+        fixed_box(world, 'west_wall_' + name + '_pier',
+                  (WALL_T, hi - lo, ROOM_H),
+                  (-ROOM_W / 2 - WALL_T / 2, (lo + hi) / 2, ROOM_H / 2), PLASTER)
+    fixed_box(world, 'ceiling_slab',
+              (ROOM_W + WALL_T * 2, ROOM_D + WALL_T * 2, .14),
+              (0, 0, ROOM_H + .07), CEILING, 'ceiling')
+    fixed_box(world, 'entry_threshold',
+              (ENTRY_W, WALL_T + .22, .016),
+              (ENTRY_X, -ROOM_D / 2 - .06, -.008), OAK, 'floor')
+    fixed_box(world, 'entry_approach_slab',
+              (ENTRY_W, .32, .18),
+              (ENTRY_X, -ROOM_D / 2 - .16, -.106), OAK_DARK, 'floor')
+
+
+def skirtings(world):
+    segments = [
+        ('north', (-ROOM_W / 2, ROOM_D / 2, 0), ROOM_W, 'x'),
+        ('east', (ROOM_W / 2, -ROOM_D / 2, 0), ROOM_D, 'y'),
+        ('west', (-ROOM_W / 2, -ROOM_D / 2, 0), ROOM_D, 'y_west'),
+        ('south_left', (-ROOM_W / 2, -ROOM_D / 2, 0),
+         ENTRY_X - ENTRY_W / 2 + ROOM_W / 2, 'x_south'),
+        ('south_right', (ENTRY_X + ENTRY_W / 2, -ROOM_D / 2, 0),
+         ROOM_W / 2 - ENTRY_X - ENTRY_W / 2, 'x_south'),
+    ]
+    for name, origin, length, direction in segments:
+        mesh = trim_profile(length)
+        vertices = mesh.vertices.copy()
+        depth, height, run = vertices.T
+        if direction == 'x':
+            mesh.vertices = np.column_stack((run, -depth, height))
+        elif direction == 'x_south':
+            mesh.vertices = np.column_stack((run, depth, height))
+        elif direction == 'y':
+            mesh.vertices = np.column_stack((-depth, run, height))
+        else:
+            mesh.vertices = np.column_stack((depth, run, height))
+        mesh.fix_normals()
+        mesh.apply_translation(origin)
+        register(world, 'oak_skirting_' + name, mesh, OAK, 'trim')
+    for side in (-1, 1):
+        fixed_box(world, f'entry_oak_jamb_{side}',
+                  (.028, WALL_T + .035, ENTRY_H),
+                  (ENTRY_X + side * (ENTRY_W / 2 - .014), -ROOM_D / 2 - .07, ENTRY_H / 2), OAK)
+        fixed_box(world, f'entry_front_architrave_{side}',
+                  (.065, .018, ENTRY_H + .06),
+                  (ENTRY_X + side * (ENTRY_W / 2 + .018), -ROOM_D / 2 + .008, (ENTRY_H + .06) / 2), OAK)
+    fixed_box(world, 'entry_oak_head_lining',
+              (ENTRY_W, WALL_T + .035, .028),
+              (ENTRY_X, -ROOM_D / 2 - .07, ENTRY_H - .014), OAK)
+    fixed_box(world, 'entry_oak_head_architrave',
+              (ENTRY_W + .101, .018, .065),
+              (ENTRY_X, -ROOM_D / 2 + .008, ENTRY_H + .018), OAK)
+
+
+def socket_plate(world, name, center, yaw=0, switch=False):
+    x, y, z = center
+    a = Assembly()
+    a.rounded((.086, .009, .086), (0, 0, 0), CEILING, radius=.006, edge=.002)
+    if switch:
+        a.rounded((.033, .004, .048), (0, -.006, 0), CEILING, radius=.003, edge=.001)
+    else:
+        for offset in (-.021, .021):
+            for dx in (-.008, .008):
+                a.box((.004, .0015, .012), (offset + dx, -.0055, .007), IRON)
+            a.cyl(.003, .0015, (offset, -.0055, -.012), IRON, (0, 1, 0), 12)
+    for dz in (-.034, .034):
+        screw(a, (0, -.006, dz), (0, -1, 0), radius=.002)
+    mesh = local_to_world(a.mesh(name + '_finish'), (x, y, z), yaw)
+    register(world, name, mesh, CEILING, 'electrical_fixture')
+
+
+def fixed_window(world):
+    x = -ROOM_W / 2 - .060
+    ylo = WINDOW_Y - WINDOW_W / 2
+    yhi = WINDOW_Y + WINDOW_W / 2
+    height = WINDOW_HEAD - WINDOW_SILL
+    a = Assembly()
+    for y in (ylo + .030, yhi - .030):
+        a.box((.080, .060, height), (x, y, (WINDOW_SILL + WINDOW_HEAD) / 2), IRON)
+        a.box((.018, .018, height - .060), (x + .045, y, (WINDOW_SILL + WINDOW_HEAD) / 2), IRON)
+    for z in (WINDOW_SILL + .030, WINDOW_HEAD - .030):
+        a.box((.080, WINDOW_W, .060), (x, WINDOW_Y, z), IRON)
+    for y in (WINDOW_Y - WINDOW_W / 6, WINDOW_Y + WINDOW_W / 6):
+        a.box((.067, .035, height - .12), (x + .004, y, (WINDOW_SILL + WINDOW_HEAD) / 2), IRON)
+    a.box((.19, WINDOW_W + .09, .035), (x + .047, WINDOW_Y, WINDOW_SILL - .008), OAK)
+    for y in np.linspace(ylo + .11, yhi - .11, 6):
+        screw(a, (x + .043, y, WINDOW_HEAD - .03), (1, 0, 0), .0025)
+    register(world, 'fixed_window_frame_and_sill', a.mesh('window_frame_finish'), IRON, 'window_frame')
+    pane_width = (WINDOW_W - .12 - .07) / 3
+    for i in range(3):
+        center_y = ylo + .06 + pane_width / 2 + i * (pane_width + .035)
+        fixed_box(world, f'fixed_glazing_pane_{i + 1}',
+                  (.006, pane_width, height - .12),
+                  (x, center_y, (WINDOW_SILL + WINDOW_HEAD) / 2), GLASS, 'window_glass')
+    socket_plate(world, 'north_wall_socket_left', (-1.82, ROOM_D / 2 - .005, .31))
+    socket_plate(world, 'north_wall_socket_right', (1.82, ROOM_D / 2 - .005, .31))
+    socket_plate(world, 'entry_light_switch', (ENTRY_X + ENTRY_W / 2 + .18, -ROOM_D / 2 + .005, 1.16), math.pi, True)
+
+
+def soft_cushion(size, center, crown=.018, lean=0):
+    width, depth, height = size
+    rings = []
+    stations = [
+        (-.50, .84), (-.44, .94), (-.28, .995),
+        (0, 1.0), (.25, .985), (.43, .92),
+        (.50, .75), (.50 + crown / height, .38),
+    ]
+    for zz, scale in stations:
+        outline = rounded_outline(width * scale, depth * scale,
+                                  min(width, depth) * .14 * scale, 12)
+        z = zz * height
+        ring = np.column_stack((outline, np.full(len(outline), z)))
+        ring[:, 1] += lean * z
+        phase = np.arctan2(outline[:, 1], outline[:, 0])
+        ring[:, 2] += .0015 * np.sin(phase * 6) * (1 - abs(zz))
+        rings.append(ring)
+    mesh = ring_loft(rings)
+    mesh.apply_translation(center)
+    return mesh
+
+
+def cushion_piping(a, size, center, finish=LEATHER_DARK, z_offset=0):
+    width, depth, height = size
+    x, y, z = center
+    outline = rounded_outline(width * .96, depth * .96, min(width, depth) * .135, 12)
+    path = [(x + px, y + py, z + z_offset) for px, py in outline]
+    path.append(path[0])
+    a.add(tube(path, .0018, 8), finish)
+
+
+def sofa_underframe(a):
+    a.rounded((SOFA_W - .14, SOFA_D - .13, .15),
+              (SOFA_X, SOFA_Y, SOFA_BASE_Z), LEATHER_DARK, .045, .014)
+    a.box((SOFA_W - .22, .055, .085),
+          (SOFA_X, SOFA_Y - SOFA_D / 2 + .09, .215), OAK_DARK)
+    a.box((SOFA_W - .22, .055, .085),
+          (SOFA_X, SOFA_Y + SOFA_D / 2 - .09, .215), OAK_DARK)
+    for sign in (-1, 1):
+        a.box((.050, SOFA_D - .20, .090),
+              (SOFA_X + sign * (SOFA_W / 2 - .13), SOFA_Y, .215), OAK_DARK)
+    for x in np.linspace(SOFA_X - .95, SOFA_X + .95, 8):
+        a.box((.055, SOFA_D - .20, .025), (x, SOFA_Y, .292), OAK_DARK)
+    for xsign in (-1, 1):
+        for ysign in (-1, 1):
+            x = SOFA_X + xsign * 1.12
+            y = SOFA_Y + ysign * .31
+            support_z = RUG_Z if ysign == -1 else 0.0
+            a.rod((x, y, .172), (x + xsign * .022, y + ysign * .018, .025 + support_z),
+                  .016, IRON, 24)
+            a.box((.075, .075, .007), (x, y, .168), IRON)
+            rubber_foot(a, x + xsign * .022, y + ysign * .018, support_z, .020, .026)
+            for dx in (-.024, .024):
+                screw(a, (x + dx, y, .173), radius=.003)
+    a.rounded((SOFA_W - .07, .16, .16),
+              (SOFA_X, SOFA_Y - .365, .286), LEATHER, .045, .017)
+
+
+def sofa_arms(a):
+    for side in (-1, 1):
+        center = (SOFA_X + side * 1.17, SOFA_Y, .526)
+        size = (.26, .92, .385)
+        a.add(soft_cushion(size, center, crown=.015), LEATHER)
+        seam_y = SOFA_Y - .435
+        path = [
+            (center[0] - .085, seam_y + .012, .377),
+            (center[0] - .105, seam_y, .425),
+            (center[0] - .110, seam_y, .590),
+            (center[0] - .080, seam_y + .004, .667),
+            (center[0], seam_y + .007, .689),
+            (center[0] + .080, seam_y + .004, .667),
+            (center[0] + .110, seam_y, .590),
+            (center[0] + .105, seam_y, .425),
+            (center[0] + .085, seam_y + .012, .377),
+        ]
+        a.add(tube(path, .0019, 8), LEATHER_DARK)
+        top_path = [
+            (center[0] + side * .055, SOFA_Y - .34, .707),
+            (center[0] + side * .061, SOFA_Y - .18, .719),
+            (center[0] + side * .064, SOFA_Y, .721),
+            (center[0] + side * .061, SOFA_Y + .18, .719),
+            (center[0] + side * .055, SOFA_Y + .34, .707),
+        ]
+        a.add(tube(top_path, .0011, 8), LEATHER_LIGHT)
+
+
+def sofa_back(a):
+    a.add(soft_cushion((2.23, .215, .51),
+                      (SOFA_X, SOFA_Y + .344, .586), crown=.008), LEATHER_DARK)
+    for index in range(3):
+        x = SOFA_X + (index - 1) * .706
+        center = (x, SOFA_Y + .235, .660)
+        mesh = soft_cushion((.696, .176, .405), (0, 0, 0), crown=.008)
+        rotate_about(mesh, math.radians(-9), (1, 0, 0), (0, 0, 0))
+        mesh.apply_translation(center)
+        a.add(mesh, LEATHER_LIGHT if index == 1 else LEATHER)
+        path = []
+        for angle in np.linspace(0, 2 * np.pi, 60):
+            sx = np.sign(math.cos(angle)) * abs(math.cos(angle)) ** .42
+            sz = np.sign(math.sin(angle)) * abs(math.sin(angle)) ** .42
+            path.append((x + .325 * sx, SOFA_Y + .147 + .029 * sz, .660 + .185 * sz))
+        a.add(tube(path, .0016, 8), LEATHER_DARK)
+        for fold_x in (-.22, .22):
+            path = [
+                (x + fold_x, SOFA_Y + .152, .516),
+                (x + fold_x * .93, SOFA_Y + .144, .543),
+                (x + fold_x * .91, SOFA_Y + .145, .569),
+            ]
+            a.add(tube(path, .0012, 8), LEATHER_DARK)
+
+
+def sofa_seating(a):
+    for index in range(3):
+        x = SOFA_X + (index - 1) * .706
+        size = (.694, .665, .137)
+        center = (x, SOFA_Y - .105, .373)
+        a.add(soft_cushion(size, center, crown=.013), LEATHER)
+        cushion_piping(a, size, center, z_offset=.038)
+        for side in (-1, 1):
+            path = [
+                (x + side * .260, SOFA_Y - .402, .404),
+                (x + side * .278, SOFA_Y - .365, .425),
+                (x + side * .286, SOFA_Y - .321, .432),
+            ]
+            a.add(tube(path, .0011, 8), LEATHER_LIGHT)
+        path = [
+            (x - .258, SOFA_Y - .425, .355),
+            (x - .140, SOFA_Y - .436, .352),
+            (x, SOFA_Y - .438, .351),
+            (x + .140, SOFA_Y - .436, .352),
+            (x + .258, SOFA_Y - .425, .355),
+        ]
+        a.add(tube(path, .0012, 8), LEATHER_DARK)
+
+
+def leather_sofa(world):
+    sofa = Assembly()
+    sofa_underframe(sofa)
+    sofa_arms(sofa)
+    sofa_back(sofa)
+    sofa_seating(sofa)
+    tailored_leather_finishing(sofa)
+    mesh = sofa.mesh('cognac_sofa_leather_and_frame')
+    register(world, 'tailored_cognac_leather_sofa', mesh, LEATHER, 'sofa')
+
+
+def cloth_grid(width, height, thickness, surface, nu=24, nv=48):
+    vertices = []
+    for layer in (0, 1):
+        for j in range(nv + 1):
+            v = j / nv
+            for i in range(nu + 1):
+                u = i / nu
+                point = np.asarray(surface(u, v), dtype=float)
+                point[0] += layer * thickness
+                vertices.append(point)
+    faces = []
+    plane = (nu + 1) * (nv + 1)
+    for layer in (0, 1):
+        offset = layer * plane
+        for j in range(nv):
+            for i in range(nu):
+                a = offset + j * (nu + 1) + i
+                b = a + 1
+                c = a + nu + 1
+                d = c + 1
+                if layer == 0:
+                    faces.extend([(a, b, d), (a, d, c)])
+                else:
+                    faces.extend([(a, d, b), (a, c, d)])
+    boundary = list(range(nu + 1))
+    boundary += [j * (nu + 1) + nu for j in range(1, nv + 1)]
+    boundary += [nv * (nu + 1) + i for i in range(nu - 1, -1, -1)]
+    boundary += [j * (nu + 1) for j in range(nv - 1, 0, -1)]
+    for i, a in enumerate(boundary):
+        b = boundary[(i + 1) % len(boundary)]
+        faces.extend([(a, a + plane, b + plane), (a, b + plane, b)])
+    mesh = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
+    mesh.fix_normals()
+    assert mesh.is_volume
+    return mesh
+
+
+def curtains(world):
+    rail_x = -ROOM_W / 2 + .14
+    rail_z = WINDOW_HEAD + .13
+    rail_length = WINDOW_W + .42
+    a = Assembly()
+    a.cyl(.012, rail_length, (rail_x, WINDOW_Y, rail_z), IRON, (0, 1, 0), 32)
+    for sign in (-1, 1):
+        y = WINDOW_Y + sign * (rail_length / 2)
+        a.cyl(.020, .022, (rail_x, y, rail_z), IRON, (0, 1, 0), 32)
+        a.box((.021, .050, .055), (-ROOM_W / 2 + .006, y - sign * .10, rail_z - .025), IRON)
+        a.rod((-ROOM_W / 2 + .01, y - sign * .10, rail_z - .025),
+              (rail_x, y - sign * .10, rail_z), .008, IRON)
+        screw(a, (-ROOM_W / 2 + .020, y - sign * .10, rail_z - .030), (1, 0, 0))
+    register(world, 'curtain_rail_and_wall_brackets', a.mesh('curtain_rail_finish'), IRON, 'curtain_rail')
+    for side in (-1, 1):
+        y_center = WINDOW_Y + side * (WINDOW_W / 2 - .05)
+        width = .42
+        def surface(u, v):
+            gather = .024 + .014 * (1 - v)
+            x = rail_x + gather * math.sin(u * 12 * math.pi) + .006 * math.sin(v * 3 * math.pi + u)
+            y = y_center + (u - .5) * width * (1 + .13 * (1 - v))
+            z = .045 + v * (rail_z - .075) + .007 * math.cos(u * 6 * math.pi) * (1 - v)
+            return (x, y, z)
+        mesh = cloth_grid(width, rail_z - .12, .003, surface, nu=72, nv=34)
+        register(world, f'linen_curtain_panel_{side}', mesh, LINEN, 'curtain')
+        hems = Assembly()
+        for v in (.018, .982):
+            path = [surface(u, v) for u in np.linspace(0, 1, 90)]
+            hems.add(tube(path, .0024, 8), LINEN)
+        for i in range(7):
+            y = y_center + (i / 6 - .5) * width
+            path = [(rail_x + .020 * math.cos(t), y, rail_z + .020 * math.sin(t))
+                    for t in np.linspace(0, 2 * math.pi, 25)]
+            hems.add(tube(path, .0022, 8), IRON)
+            hems.box((.014, .012, .022), (rail_x, y, rail_z - .036), LINEN)
+        register(world, f'curtain_hems_and_rings_{side}', hems.mesh('curtain_details'), LINEN, 'curtain_fitting')
+
+
+def rug_texture():
+    size = 768
+    rng = np.random.default_rng(SEED + 2)
+    base = np.array([171, 160, 139], dtype=float)
+    yy, xx = np.mgrid[0:size, 0:size]
+    weave = 3.5 * np.sin(xx * np.pi / 3) + 3.0 * np.sin(yy * np.pi / 2)
+    noise = rng.normal(0, 1.4, (size, size))
+    rgb = np.clip(base[None, None, :] + (weave + noise)[:, :, None], 0, 255).astype(np.uint8)
+    image = Image.fromarray(rgb, mode='RGB')
+    draw = ImageDraw.Draw(image)
+    for inset, colour in [(17, (116, 109, 94)), (22, (203, 190, 165)), (32, (139, 131, 112))]:
+        draw.rounded_rectangle((inset, inset, size - inset, size - inset), radius=16,
+                               outline=colour, width=3)
+    return image
+
+
+def living_rug(world):
+    mesh = rug_bound_shell()
+    register(world, 'oatmeal_bound_area_rug', mesh, RUG, 'rug')
+
+
+def coffee_table_joinery(a):
+    underside = TABLE_TOP_Z - TABLE_TOP_T
+    for side in (-1, 1):
+        x = TABLE_X + side * .350
+        a.rounded((.080, .42, .028), (x, TABLE_Y, underside - .014), OAK_DARK, .016, .004)
+        for ysign in (-1, 1):
+            y = TABLE_Y + ysign * .205
+            foot_x = x + side * .035
+            foot_y = y + ysign * .032
+            a.rod((x, y, underside - .010), (foot_x, foot_y, RUG_Z + .014),
+                  .020, IRON, 28)
+            a.cyl(.024, .016, (foot_x, foot_y, RUG_Z + .008), RUBBER, sections=24)
+            a.cyl(.027, .007, (x, y, underside - .028), IRON, sections=24)
+            screw(a, (x, y, underside - .032), (0, 0, -1), radius=.004)
+    a.box((.69, .032, .032), (TABLE_X, TABLE_Y, underside - .034), IRON)
+    for x in (TABLE_X - .35, TABLE_X + .35):
+        for y in (TABLE_Y - .13, TABLE_Y + .13):
+            screw(a, (x, y, underside - .030), (0, 0, -1), .003)
+
+
+def coffee_table(world):
+    a = Assembly()
+    top = ellipse_slab(TABLE_W, TABLE_D, TABLE_TOP_T,
+                       (TABLE_X, TABLE_Y, TABLE_TOP_Z - TABLE_TOP_T / 2), .004, 96)
+    a.add(top, OAK_LIGHT)
+    lip = ellipse_slab(TABLE_W - .018, TABLE_D - .018, .010,
+                       (TABLE_X, TABLE_Y, TABLE_TOP_Z - TABLE_TOP_T + .002), .002, 96)
+    a.add(lip, OAK)
+    coffee_table_joinery(a)
+    apply_coffee_top_grain(a)
+    register(world, 'small_oval_oak_coffee_table', a.mesh('coffee_table_oak_and_steel'), OAK, 'coffee_table')
+
+
+def writer_chassis(a):
+    a.rounded((.345, .308, .024), (0, -.005, .030), ENAMEL, .036, .005)
+    a.rounded((.332, .300, .012), (0, -.004, .018), IRON, .031, .004)
+    a.box((.283, .196, .008), (0, -.048, .043), IRON)
+    for side in (-1, 1):
+        x = side * .163
+        rings = []
+        for z, width, depth, y in [
+            (.036, .022, .268, -.002),
+            (.047, .029, .272, -.003),
+            (.084, .027, .199, .026),
+            (.112, .023, .142, .054),
+            (.126, .017, .101, .068),
+        ]:
+            outline = rounded_outline(width, depth, min(width * .35, .009), 8)
+            rings.append(np.column_stack((outline[:, 0] + x, outline[:, 1] + y,
+                                          np.full(len(outline), z))))
+        a.add(ring_loft(rings), ENAMEL)
+        a.rounded((.007, .222, .011), (side * .177, -.013, .050), NICKEL, .003, .001)
+    a.rounded((.312, .055, .062), (0, .116, .070), ENAMEL, .020, .008)
+    a.rounded((.320, .035, .044), (0, -.145, .051), ENAMEL, .014, .006)
+    a.box((.282, .011, .005), (0, -.164, .067), NICKEL)
+    a.box((.258, .004, .007), (0, -.167, .048), LEATHER_DARK)
+    for x in (-.132, .132):
+        for y in (-.115, .100):
+            rubber_foot(a, x, y, 0, .018, .020)
+    for side in (-1, 1):
+        for y in (-.099, .091):
+            screw(a, (side * .174, y, .053), (side, 0, 0), .003)
+    for x in (-.112, .112):
+        screw(a, (x, -.164, .050), (0, -1, 0), .003)
+
+
+def writer_keyboard(a):
+    rows = [
+        ('ZXCVBNM,./', -.111, .073, -.119, .0254),
+        ('ASDFGHJKL;', -.076, .087, -.121, .0260),
+        ('QWERTYUIOP', -.040, .101, -.128, .0270),
+        ('1234567890', -.005, .115, -.128, .0270),
+    ]
+    for letters, y, z, xstart, spacing in rows:
+        for index, letter in enumerate(letters):
+            x = xstart + index * spacing
+            a.rod((x, y + .018, .046), (x, y, z - .006), .0024, NICKEL, 12)
+            a.cyl(.0113, .0055, (x, y, z), NICKEL, sections=32)
+            top = cylinder(.0093, .0018, (x, y, z + .0034), sections=32)
+            a.add(top, IVORY, key_uv(top, letter, x, y, .0093))
+            a.cyl(.0086, .0013, (x, y, z - .0035), IRON, sections=24)
+    a.rounded((.186, .021, .012), (0, -.147, .078), IRON, .008, .002)
+    a.rounded((.176, .017, .004), (0, -.148, .084), ENAMEL, .007, .001)
+    for x in (-.068, .068):
+        a.rod((x, -.125, .041), (x, -.147, .073), .003, NICKEL)
+    for side in (-1, 1):
+        x = side * .143
+        a.rounded((.027, .022, .010), (x, -.113, .076), IRON, .008, .002)
+        a.cyl(.008, .003, (x, -.077, .089), NICKEL, sections=24)
+        a.cyl(.006, .002, (x, -.077, .092), IVORY, sections=24)
+        a.rod((x, -.076, .083), (x, -.055, .044), .0025, NICKEL)
+
+
+def writer_ribbon_spools(a):
+    for side in (-1, 1):
+        x = side * .084
+        y = .059
+        a.cyl(.037, .009, (x, y, .129), ENAMEL, sections=48)
+        a.cyl(.032, .008, (x, y, .135), RUBBER, sections=48)
+        a.cyl(.036, .0025, (x, y, .141), NICKEL, sections=48)
+        a.cyl(.030, .0028, (x, y, .143), IRON, sections=48)
+        a.cyl(.007, .011, (x, y, .146), NICKEL, sections=24)
+        a.cyl(.003, .003, (x, y, .153), ENAMEL, sections=16)
+        for theta in np.linspace(0, 2 * np.pi, 6, endpoint=False):
+            r = .020
+            a.cyl(.0042, .001, (x + r * math.cos(theta), y + r * math.sin(theta), .145),
+                  ENAMEL, sections=16)
+        screw(a, (x, y, .155), radius=.0024)
+    ribbon_path = [
+        (-.063, .061, .142), (-.038, .079, .143),
+        (-.012, .095, .144), (.012, .095, .144),
+        (.038, .079, .143), (.063, .061, .142),
+    ]
+    for p0, p1 in zip(ribbon_path[:-1], ribbon_path[1:]):
+        midpoint = (np.array(p0) + np.array(p1)) / 2
+        length = np.linalg.norm(np.array(p1) - np.array(p0))
+        mesh = box_mesh((length, .0014, .006), (0, 0, 0))
+        angle = math.atan2(p1[1] - p0[1], p1[0] - p0[0])
+        local_to_world(mesh, midpoint, angle)
+        a.add(mesh, INK)
+        red_edge = mesh.copy()
+        red_edge.vertices[:, 2] = midpoint[2] + (red_edge.vertices[:, 2] - midpoint[2]) * .45 - .003
+        a.add(red_edge, RED)
+
+
+def writer_typebasket(a):
+    center_y = .081
+    for theta in np.linspace(math.radians(200), math.radians(340), 31):
+        x0 = .063 * math.cos(theta)
+        y0 = center_y + .063 * math.sin(theta)
+        x1 = .031 * math.cos(theta)
+        y1 = center_y + .031 * math.sin(theta)
+        a.rod((x0, y0, .113), (x1, y1, .139), .0012, NICKEL, 8)
+        a.box((.0025, .0055, .004), (x1, y1, .141), IRON)
+    arc = [( .067 * math.cos(theta), center_y + .067 * math.sin(theta), .112)
+           for theta in np.linspace(math.radians(195), math.radians(345), 40)]
+    a.add(tube(arc, .0032, 12), NICKEL)
+    for side in (-1, 1):
+        a.box((.003, .014, .030), (side * .014, .097, .147), NICKEL)
+        a.cyl(.0024, .008, (side * .014, .090, .160), NICKEL, (1, 0, 0), 12)
+    a.box((.029, .002, .004), (0, .105, .162), NICKEL)
+    a.box((.011, .002, .012), (0, .107, .164), IRON)
+
+
+def writer_carriage(a):
+    a.box((.372, .029, .010), (0, .123, .119), NICKEL)
+    a.box((.351, .021, .007), (0, .124, .127), IRON)
+    a.cyl(.0042, .383, (0, .136, .129), NICKEL, (1, 0, 0), 32)
+    a.cyl(.0040, .367, (0, .111, .126), NICKEL, (1, 0, 0), 32)
+    for side in (-1, 1):
+        a.rounded((.016, .039, .050), (side * .158, .120, .151), ENAMEL, .006, .003)
+        a.cyl(.008, .014, (side * .166, .121, .168), NICKEL, (1, 0, 0), 24)
+    a.cyl(.019, .307, (0, .121, .168), RUBBER, (1, 0, 0), 64)
+    a.cyl(.006, .418, (0, .121, .168), NICKEL, (1, 0, 0), 32)
+    for side in (-1, 1):
+        x = side * .205
+        knob = revolve([
+            (0, -.009), (.017, -.009), (.021, -.006),
+            (.022, -.002), (.022, .006), (.019, .009), (0, .009),
+        ], sections=48)
+        knob.apply_transform(trimesh.geometry.align_vectors((0, 0, 1), (1, 0, 0)))
+        knob.apply_translation((x, .121, .168))
+        a.add(knob, IRON)
+        for theta in np.linspace(0, 2 * np.pi, 28, endpoint=False):
+            y = .121 + .022 * math.cos(theta)
+            z = .168 + .022 * math.sin(theta)
+            a.cyl(.0009, .011, (x, y, z), ENAMEL, (1, 0, 0), 8)
+        a.cyl(.007, .0015, (x + side * .010, .121, .168), NICKEL, (1, 0, 0), 24)
+        screw(a, (x + side * .011, .121, .168), (side, 0, 0), .003)
+    a.cyl(.0026, .301, (0, .099, .178), NICKEL, (1, 0, 0), 32)
+    for x in (-.085, .085):
+        a.cyl(.0065, .020, (x, .101, .178), RUBBER, (1, 0, 0), 24)
+        a.cyl(.007, .002, (x - .011, .101, .178), NICKEL, (1, 0, 0), 24)
+        a.cyl(.007, .002, (x + .011, .101, .178), NICKEL, (1, 0, 0), 24)
+    for side in (-1, 1):
+        a.rod((side * .145, .120, .168), (side * .145, .099, .178), .0025, NICKEL)
+    a.box((.285, .003, .013), (0, .145, .196), ENAMEL)
+    a.box((.270, .001, .005), (0, .143, .199), IVORY)
+    for i in range(49):
+        x = -.130 + i * .0054
+        tick_height = .0035 if i % 5 == 0 else .0017
+        a.box((.0007, .0012, tick_height), (x, .142, .199), INK)
+
+
+def writer_controls(a):
+    lever_path = [
+        (-.168, .139, .167), (-.183, .140, .183),
+        (-.197, .132, .190), (-.210, .105, .190),
+        (-.213, .065, .189),
+    ]
+    a.add(tube(lever_path, .0038, 12), NICKEL)
+    a.rounded((.021, .042, .011), (-.213, .053, .189), IRON, .007, .002)
+    a.cyl(.004, .017, (-.177, .137, .176), NICKEL, (1, 0, 0), 16)
+    a.cyl(.003, .013, (-.166, .095, .151), NICKEL, (1, 0, 0), 16)
+    a.rod((-.166, .095, .151), (-.175, .079, .162), .0025, NICKEL)
+    a.cyl(.007, .003, (-.175, .079, .162), IRON, (1, 0, 0), 24)
+    a.box((.014, .016, .006), (.138, .014, .125), NICKEL)
+    a.cyl(.005, .008, (.138, .014, .132), RED, sections=24)
+    a.box((.016, .025, .004), (-.139, .019, .126), NICKEL)
+    a.cyl(.0045, .008, (-.139, .012, .132), IRON, sections=24)
+    for x in (-.113, .107):
+        a.rounded((.019, .016, .011), (x, .144, .210), NICKEL, .004, .002)
+        a.box((.003, .010, .011), (x, .135, .209), IRON)
+    a.cyl(.007, .008, (.153, .069, .113), NICKEL, (1, 0, 0), 24)
+    a.cyl(.004, .011, (.158, .069, .113), IRON, (1, 0, 0), 20)
+
+
+def writer_brand_plate(a):
+    a.rounded((.092, .0025, .019), (0, -.167, .050), BRASS, .004, .001)
+    a.box((.080, .001, .011), (0, -.169, .050), ENAMEL)
+    # A restrained geometric maker's mark avoids an invented historic brand.
+    strokes = [
+        ((-.022, -.170, .046), (-.022, -.170, .054)),
+        ((-.022, -.170, .054), (-.017, -.170, .046)),
+        ((-.017, -.170, .046), (-.017, -.170, .054)),
+        ((-.011, -.170, .046), (-.011, -.170, .054)),
+        ((-.011, -.170, .054), (-.005, -.170, .054)),
+        ((-.005, -.170, .054), (-.005, -.170, .046)),
+        ((-.005, -.170, .046), (-.011, -.170, .046)),
+        ((.002, -.170, .054), (.005, -.170, .046)),
+        ((.005, -.170, .046), (.008, -.170, .054)),
+        ((.014, -.170, .046), (.017, -.170, .054)),
+        ((.017, -.170, .054), (.020, -.170, .046)),
+        ((.015, -.170, .049), (.019, -.170, .049)),
+    ]
+    for start, end in strokes:
+        a.rod(start, end, .00065, BRASS, 8)
+    for x in (-.039, .039):
+        screw(a, (x, -.169, .050), (0, -1, 0), .0016, BRASS)
+
+
+def writer_paper(a):
+    width = .198
+    height = .170
+    nu = 24
+    nv = 40
+    vertices = []
+    for layer in (0, 1):
+        for j in range(nv + 1):
+            v = j / nv
+            for i in range(nu + 1):
+                u = i / nu
+                x = (u - .5) * width
+                y = .126 + .016 * math.sin(v * math.pi / 2) + .010 * v * v
+                z = .172 + v * height + .002 * math.sin(u * math.pi)
+                vertices.append((x, y + layer * .0008, z))
+    faces = []
+    plane = (nu + 1) * (nv + 1)
+    for layer in (0, 1):
+        for j in range(nv):
+            for i in range(nu):
+                p = layer * plane + j * (nu + 1) + i
+                q = p + 1
+                r = p + nu + 1
+                s = r + 1
+                faces.extend([(p, q, s), (p, s, r)] if layer == 0 else [(p, s, q), (p, r, s)])
+    edges = list(range(nu + 1))
+    edges += [j * (nu + 1) + nu for j in range(1, nv + 1)]
+    edges += [nv * (nu + 1) + i for i in range(nu - 1, -1, -1)]
+    edges += [j * (nu + 1) for j in range(nv - 1, 0, -1)]
+    for index, p in enumerate(edges):
+        q = edges[(index + 1) % len(edges)]
+        faces.extend([(p, p + plane, q + plane), (p, q + plane, q)])
+    paper = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
+    paper.fix_normals()
+    assert paper.is_volume
+    a.add(paper, PAPER)
+    for row in range(5):
+        z = .297 - row * .008
+        v = (z - .172) / height
+        y = .126 + .016 * math.sin(v * math.pi / 2) + .010 * v * v - .0004
+        for word, (start, length) in enumerate([(-.072, .026), (-.039, .042), (.011, .031), (.050, .017)]):
+            if row == 4 and word > 1:
+                continue
+            for index in range(int(length / .0034)):
+                x = start + index * .0034
+                a.box((.0018, .0005, .0026), (x, y, z), INK)
+
+
+def vintage_typewriter(world):
+    a = Assembly()
+    writer_chassis(a)
+    writer_keyboard(a)
+    writer_ribbon_spools(a)
+    writer_typebasket(a)
+    writer_carriage(a)
+    writer_controls(a)
+    writer_brand_plate(a)
+    writer_paper(a)
+    typewriter_extra_hardware(a)
+    writer_margin_release_details(a)
+    mesh = a.mesh('vintage_typewriter_enamel_chrome_ivory')
+    local_to_world(mesh, (WRITER_X, WRITER_Y, WRITER_BASE_Z), WRITER_YAW)
+    body = typewriter_mass_model()
+    contact = typewriter_contact_pieces()
+    register(world, 'vintage_manual_typewriter', mesh, ENAMEL, 'movable_prop', body,
+             collision_meshes=contact)
+
+
+def lamp_shade_profile():
+    return [
+        (.178, 0), (.180, .004), (.154, .247),
+        (.151, .252), (.146, .252), (.149, .244),
+        (.173, .006), (.173, 0),
+    ]
+
+
+def floor_lamp(world):
+    x = -1.71
+    y = 1.61
+    a = Assembly()
+    a.add(revolve([
+        (0, 0), (.145, 0), (.161, .007), (.166, .018),
+        (.163, .029), (.153, .038), (.033, .045),
+        (.025, .053), (0, .053),
+    ], (x, y, 0), sections=80), IRON)
+    a.cyl(.012, 1.267, (x, y, .676), IRON, sections=32)
+    a.cyl(.017, .036, (x, y, .074), BRASS, sections=32)
+    a.cyl(.018, .022, (x, y, 1.286), BRASS, sections=32)
+    a.add(revolve([
+        (0, 0), (.020, 0), (.020, .052),
+        (.023, .058), (.023, .077), (.018, .083), (0, .083),
+    ], (x, y, 1.300), sections=32), IRON)
+    for angle in np.linspace(0, 2 * np.pi, 3, endpoint=False):
+        a.rod((x, y, 1.355),
+              (x + .168 * math.cos(angle), y + .168 * math.sin(angle), 1.357),
+              .0024, IRON)
+    a.add(revolve(lamp_shade_profile(), (x, y, 1.354), sections=96), LINEN)
+    for z, radius in [(1.355, .177), (1.605, .149)]:
+        path = [(x + radius * math.cos(t), y + radius * math.sin(t), z)
+                for t in np.linspace(0, 2 * math.pi, 81)]
+        a.add(tube(path, .0030, 8), LINEN)
+    bulb = trimesh.creation.icosphere(subdivisions=3, radius=.031)
+    bulb.apply_scale((1, 1, 1.3))
+    bulb.apply_translation((x, y, 1.415))
+    a.add(bulb, IVORY)
+    a.cyl(.004, .033, (x + .027, y, 1.331), BRASS, (1, 0, 0), 16)
+    a.cyl(.007, .009, (x + .043, y, 1.331), IRON, (1, 0, 0), 20)
+    cable_path = [
+        (x + .070, y + .110, .012),
+        (x + .093, y + .170, .006),
+        (x + .110, y + .240, .005),
+        (x + .090, y + .350, .005),
+        (x + .052, y + .440, .006),
+        (x - .015, y + .525, .022),
+        (-1.82, 2.365, .270),
+        (-1.82, 2.385, .305),
+    ]
+    a.add(tube(cable_path, .0033, 10), RUBBER)
+    a.rounded((.035, .033, .043), (-1.82, 2.374, .310), IRON, .006, .002)
+    register(world, 'reading_floor_lamp', a.mesh('reading_lamp_black_linen_brass'), IRON, 'lamp')
+
+
+def ceiling_light(world):
+    a = Assembly()
+    x = .05
+    y = .25
+    a.cyl(.085, .026, (x, y, ROOM_H - .013), CEILING, sections=64)
+    a.cyl(.004, .190, (x, y, ROOM_H - .115), IRON, sections=16)
+    a.add(revolve([
+        (0, 0), (.212, 0), (.226, .013),
+        (.230, .038), (.218, .070), (.180, .100),
+        (.122, .122), (.060, .132), (0, .134),
+    ], (x, y, ROOM_H - .350), sections=96), CEILING)
+    a.cyl(.200, .006, (x, y, ROOM_H - .351), IVORY, sections=96)
+    a.cyl(.009, .008, (x, y, ROOM_H - .357), BRASS, sections=24)
+    for angle in (0, 2 * math.pi / 3, 4 * math.pi / 3):
+        screw(a, (x + .068 * math.cos(angle), y + .068 * math.sin(angle), ROOM_H - .027),
+              (0, 0, -1), .0025)
+    register(world, 'ceiling_pendant', a.mesh('ceiling_pendant_finish'), CEILING, 'lamp')
+
+
+
+def artwork(world):
+    x = SOFA_X
+    y = ROOM_D / 2 - .027
+    z = 1.69
+    frame = Assembly()
+    framed_relief_backing(frame, x, y, z, 1.43, .89)
+    register(world, 'oak_frame_abstract_art', frame.mesh('abstract_art_frame'), OAK, 'wall_art')
+    printed_art_panel(world, x, y, z)
+
+
+def console_frame(world):
+    a = Assembly()
+    # Local front is -Y; rotating by 90 degrees puts the opening into the room.
+    width = BOOKCASE_W
+    depth = BOOKCASE_D
+    base = .145
+    top = BOOKCASE_H
+    a.rounded((width, depth, .027), (0, 0, top - .0135), OAK, .012, .004)
+    a.box((width - .045, depth - .010, .023), (0, .005, base), OAK)
+    a.box((width - .045, depth - .010, .020), (0, .005, .468), OAK)
+    a.box((width - .040, .013, top - base), (0, depth / 2 - .009, (top + base) / 2), OAK_DARK)
+    for side in (-1, 1):
+        a.box((.024, depth - .012, top - base),
+              (side * (width / 2 - .012), 0, (top + base) / 2), OAK)
+        for yside in (-1, 1):
+            x = side * (width / 2 - .075)
+            y = yside * (depth / 2 - .065)
+            a.rod((x, y, .145), (x, y, .012), .015, IRON, 24)
+            rubber_foot(a, x, y, 0, .017, .016)
+            a.box((.047, .047, .006), (x, y, .139), IRON)
+    a.box((.021, depth - .029, .309), (0, -.001, .307), OAK)
+    a.box((.021, depth - .029, .375), (.195, -.001, .6655), OAK)
+    for z in (.468, .853):
+        for x in (-width / 2 + .030, width / 2 - .030, .177):
+            for y in (-.11, .11):
+                a.cyl(.003, .011, (x, y, z - .015), NICKEL, (1, 0, 0), 12)
+    for x in (-.55, .55):
+        metal_bracket(a, (x, .182, .784), .035, .070, .040)
+    mesh = local_to_world(a.mesh('open_console_oak_and_steel'),
+                          (BOOKCASE_X, BOOKCASE_Y, 0), -math.pi / 2)
+    register(world, 'open_oak_display_console', mesh, OAK, 'shelving')
+
+
+def console_point(x, y, z):
+    return (BOOKCASE_X + y, BOOKCASE_Y - x, z)
+
+
+def book_assembly(width, depth, thickness, cover):
+    a = Assembly()
+    a.rounded((width, depth, .0025), (0, 0, .00125), cover, .003, .0006)
+    a.rounded((width, depth, .0025), (0, 0, thickness - .00125), cover, .003, .0006)
+    a.box((width - .007, depth - .009, thickness - .006),
+          (.001, .001, thickness / 2), PAPER)
+    a.rounded((.006, depth, thickness), (-width / 2 + .003, 0, thickness / 2),
+              cover, .002, .0008)
+    for z in np.linspace(.006, thickness - .006, max(2, int(thickness / .004))):
+        a.box((.001, depth - .011, .0006), (width / 2 - .003, .001, z), IVORY)
+    for y in (-depth * .32, depth * .32):
+        a.box((.001, .002, thickness * .62), (-width / 2 - .0006, y, thickness / 2), BRASS)
+    book_cover_titles(a, width, depth, thickness, cover)
+    return a
+
+
+def place_book(world, name, center, size, cover, mass, yaw=0, upright=False):
+    width, depth, thickness = size
+    a = book_assembly(width, depth, thickness, cover)
+    mesh = a.mesh(name + '_materials')
+    if upright:
+        rotate_about(mesh, math.pi / 2, (0, 1, 0), (0, 0, 0))
+        mesh.apply_translation((0, 0, width / 2))
+    local_to_world(mesh, center, yaw)
+    body = free_body(mesh, mass, 'Hardback book with paper block and cloth-covered boards')
+    register(world, name, mesh, cover, 'movable_prop', body)
+    return mesh.bounds
+
+
+def console_books(world):
+    shelf_z = .478
+    books = [
+        ('architecture_volume', -.560, .220, .245, .031, CHARCOAL, .72),
+        ('design_volume', -.525, .204, .230, .025, RED, .58),
+        ('poetry_volume', -.494, .186, .212, .022, OLIVE, .41),
+        ('photography_volume', -.465, .231, .255, .029, OAK_DARK, .78),
+    ]
+    for name, x, width, depth, thickness, cover, mass in books:
+        # Standing books share a shelf, with 4 mm between their cover boards.
+        center = console_point(x, -.015, shelf_z)
+        place_book(world, name, center, (width, depth, thickness), cover, mass,
+                   yaw=-math.pi / 2, upright=True)
+    lower_top = .1565
+    place_book(world, 'large_art_book', console_point(.36, -.005, lower_top),
+               (.255, .290, .034), CHARCOAL, .8, yaw=-math.pi / 2)
+    place_book(world, 'small_essay_book', console_point(.36, -.005, lower_top + .034),
+               (.218, .260, .023), RED, .46, yaw=-math.pi / 2)
+    place_book(world, 'linen_bound_journal', console_point(-.35, -.005, lower_top),
+               (.245, .270, .030), LINEN, .51, yaw=-math.pi / 2)
+    place_book(world, 'green_bound_journal', console_point(-.35, -.005, lower_top + .030),
+               (.230, .255, .024), OLIVE, .43, yaw=-math.pi / 2)
+
+
+def ceramic_vase_mesh(height, radius, center):
+    stations = [
+        (0, 0), (radius * .58, 0), (radius * .68, .008),
+        (radius * .87, height * .16), (radius, height * .37),
+        (radius * .97, height * .55), (radius * .77, height * .73),
+        (radius * .50, height * .84), (radius * .47, height * .97),
+        (radius * .49, height), (radius * .37, height),
+        (radius * .36, height * .96), (radius * .39, height * .84),
+        (radius * .66, height * .72), (radius * .85, height * .54),
+        (radius * .87, height * .37), (radius * .75, height * .18),
+        (radius * .57, .014), (0, .014),
+    ]
+    return revolve(stations, center, sections=72)
+
+
+def ceramic_vases(world):
+    center = console_point(-.40, .018, BOOKCASE_H)
+    mesh = ceramic_vase_mesh(.273, .091, center)
+    body = free_body(mesh, 1.25, 'Hollow stoneware decorative vase')
+    register(world, 'chalk_stoneware_vase', mesh, CERAMIC, 'movable_prop', body)
+    center = console_point(-.15, .006, BOOKCASE_H)
+    mesh = ceramic_vase_mesh(.164, .060, center)
+    body = free_body(mesh, .46, 'Hollow terracotta bud vase')
+    register(world, 'terracotta_bud_vase', mesh, TERRA, 'movable_prop', body)
+
+
+def ceramic_bowl(world):
+    center = console_point(.45, -.012, .478)
+    mesh = revolve([
+        (0, 0), (.050, 0), (.055, .006), (.060, .014),
+        (.082, .036), (.095, .060), (.098, .071),
+        (.095, .074), (.090, .071), (.087, .061),
+        (.075, .039), (.053, .020), (0, .016),
+    ], center, sections=72)
+    body = free_body(mesh, .55, 'Glazed stoneware bowl with modeled cavity')
+    register(world, 'low_olive_ceramic_bowl', mesh, OLIVE, 'movable_prop', body)
+
+
+def side_table(world):
+    x = 1.78
+    y = 1.58
+    a = Assembly()
+    a.add(ellipse_slab(.43, .43, .026, (x, y, .537), .003, 72), OAK)
+    a.add(revolve([
+        (0, 0), (.119, 0), (.133, .006), (.137, .017),
+        (.129, .026), (.023, .034), (0, .034),
+    ], (x, y, 0), sections=64), IRON)
+    a.cyl(.014, .486, (x, y, .276), IRON, sections=32)
+    a.cyl(.060, .009, (x, y, .520), IRON, sections=40)
+    a.cyl(.021, .017, (x, y, .505), BRASS, sections=32)
+    for theta in np.linspace(0, 2 * np.pi, 3, endpoint=False):
+        screw(a, (x + .042 * math.cos(theta), y + .042 * math.sin(theta), .515),
+              (0, 0, -1), .003)
+    register(world, 'round_oak_side_table', a.mesh('side_table_finish'), OAK, 'side_table')
+
+
+def mug(world):
+    x = 1.78
+    y = 1.58
+    base = .550
+    a = Assembly()
+    body_mesh = revolve([
+        (0, 0), (.029, 0), (.034, .004), (.036, .012),
+        (.038, .070), (.038, .080), (.036, .083),
+        (.032, .083), (.031, .078), (.030, .016),
+        (.025, .010), (0, .010),
+    ], sections=64)
+    a.add(body_mesh, CERAMIC)
+    path = [
+        (.034, 0, .065), (.048, 0, .069),
+        (.061, 0, .063), (.068, 0, .052),
+        (.067, 0, .035), (.060, 0, .023),
+        (.046, 0, .021), (.034, 0, .028),
+    ]
+    a.add(tube(path, .0052, 16), CERAMIC)
+    mesh = local_to_world(a.mesh('stoneware_mug_finish'), (x, y, base), .25)
+    body = free_body(mesh, .29, 'Empty ceramic mug, no liquid simulation')
+    register(world, 'stoneware_mug', mesh, CERAMIC, 'movable_prop', body)
+
+
+def notebook_on_table(world):
+    center = (TABLE_X + .340, TABLE_Y + .025, TABLE_TOP_Z)
+    a = book_assembly(.132, .182, .015, OLIVE)
+    # The elastic band is joined to the same rigid book so it follows the book.
+    a.box((.005, .184, .0011), (.041, 0, .0155), IRON)
+    a.box((.005, .002, .016), (.041, -.092, .008), IRON)
+    a.box((.005, .002, .016), (.041, .092, .008), IRON)
+    mesh = local_to_world(a.mesh('olive_notebook_finish'), center, math.radians(9))
+    body = free_body(mesh, .18, 'Small pocket notebook with elastic retaining band')
+    register(world, 'olive_pocket_notebook', mesh, OLIVE, 'movable_prop', body)
+
+
+def pencil_on_notebook(world):
+    x = TABLE_X + .340
+    y = TABLE_Y + .025
+    base = TABLE_TOP_Z + .0161
+    a = Assembly()
+    a.cyl(.0035, .118, (0, 0, .0035), OAK, (0, 1, 0), 6)
+    a.cyl(.0035, .012, (0, .065, .0035), BRASS, (0, 1, 0), 12)
+    a.cyl(.0034, .007, (0, .0745, .0035), RED, (0, 1, 0), 12)
+    tip = trimesh.creation.cone(radius=.0035, height=.015, sections=6)
+    tip.apply_transform(trimesh.geometry.align_vectors((0, 0, 1), (0, -1, 0)))
+    tip.apply_translation((0, -.059, .0035))
+    a.add(tip, OAK_LIGHT)
+    graphite = trimesh.creation.cone(radius=.001, height=.005, sections=8)
+    graphite.apply_transform(trimesh.geometry.align_vectors((0, 0, 1), (0, -1, 0)))
+    graphite.apply_translation((0, -.069, .0035))
+    a.add(graphite, INK)
+    mesh = local_to_world(a.mesh('hexagonal_pencil_finish'), (x, y, base), math.radians(9))
+    body = free_body(mesh, .007, 'Wood-cased hexagonal pencil')
+    register(world, 'wooden_pencil', mesh, OAK, 'movable_prop', body)
+
+
+def room_routes(world):
+    world.spawn_position = (ENTRY_X, -1.93, .45)
+    world.goal_position = (-1.47, .05, .0)
+    world.note('Synthetic room: 5.6 x 4.8 x 2.75 m interior, metre units and Z-up.')
+    world.note('No robot selected. Entry opening is 1.2 m; robot-specific traversal and reach remain untested.')
+    world.note('Leather, curtain linen, rug and paper are rigid shaped geometry, without deformation.')
+    world.note('The typewriter is a loose rigid prop; keyboard, carriage and ribbon are detailed fixed parts, without typing mechanics.')
+    world.note('Decorative lamps have modeled fittings and cables; electrical operation and emitted room lighting are not simulated.')
+
+
+def dimensional_checks(world):
+    by_name = {obj.name: obj for obj in world.objects}
+    required = [
+        'tailored_cognac_leather_sofa',
+        'small_oval_oak_coffee_table',
+        'vintage_manual_typewriter',
+        'oatmeal_bound_area_rug',
+        'north_plastered_wall',
+        'east_plastered_wall',
+        'ceiling_slab',
+        'open_oak_display_console',
+    ]
+    for name in required:
+        assert name in by_name, 'Required room object is absent: ' + name
+    table = by_name['small_oval_oak_coffee_table'].mesh
+    assert abs(table.bounds[1, 2] - TABLE_TOP_Z) < .0001
+    assert table.extents[0] < 1.20 and table.extents[1] < .75
+    writer = by_name['vintage_manual_typewriter'].mesh
+    assert abs(writer.bounds[0, 2] - TABLE_TOP_Z) < .0001
+    assert writer.extents[0] < .48 and writer.extents[1] < .39
+    assert writer.bounds[1, 2] < .78
+    assert by_name['vintage_manual_typewriter'].body is not None
+    assert ENTRY_W - .056 > 1.14
+    for obj in world.objects:
+        assert np.isfinite(obj.mesh.vertices).all(), obj.name
+        assert obj.mesh.faces.min() >= 0, obj.name
+        assert obj.mesh.faces.max() < len(obj.mesh.vertices), obj.name
+        if obj.body is not None:
+            solid_check = obj.mesh.copy()
+            solid_check.merge_vertices(merge_tex=True, merge_norm=True)
+            assert solid_check.volume > 0, 'Movable assembly must have positive volume: ' + obj.name
+            assert obj.body.mass > 0, obj.name
+            assert min(obj.body.diagonal_inertia) > 0, obj.name
+    world.note('Authored bounds checked: small coffee table under 1.20 x 0.75 m; typewriter feet align to its 0.405 m top.')
+
+
+
+def tinted_grain_tile(finish, index):
+    tile = np.empty((64, 64, 4), dtype=np.uint8)
+    base = np.array(colour_bytes(finish), dtype=float)
+    yy, xx = np.mgrid[0:64, 0:64]
+    rng = np.random.default_rng(SEED + index * 7)
+    if finish in (LEATHER, LEATHER_LIGHT, LEATHER_DARK):
+        broad = np.sin(xx * .13 + yy * .07) * 1.8
+        pores = rng.normal(0, .9, (64, 64))
+        variation = broad + pores
+    elif finish in (OAK, OAK_LIGHT, OAK_DARK):
+        rings = xx * .41 + 1.2 * np.sin(yy * .032) + .4 * np.sin(xx * .12)
+        fine = np.sin(rings) * 3.0 + np.sin(rings * 2.9) * 1.1
+        variation = fine + rng.normal(0, .55, (64, 64))
+    elif finish == LINEN:
+        warp = ((xx % 3) == 0).astype(float) * 3
+        weft = ((yy % 3) == 0).astype(float) * 3
+        variation = warp + weft - 2
+    else:
+        variation = np.zeros((64, 64))
+    tile[:, :, :3] = np.clip(base[:3] + variation[:, :, None], 0, 255)
+    tile[:, :, 3] = 255
+    return Image.fromarray(tile, mode='RGBA')
+
+
+def enrich_surface_atlas():
+    finishes = [LEATHER, LEATHER_LIGHT, LEATHER_DARK,
+                OAK, OAK_LIGHT, OAK_DARK, LINEN]
+    for finish in finishes:
+        index = PALETTE_INDEX[finish.name]
+        corner = ((index % 16) * 64, (index // 16) * 64)
+        ATLAS.paste(tinted_grain_tile(finish, index), corner)
+
+
+def surface_tile_uv(mesh, finish):
+    index = PALETTE_INDEX[finish.name]
+    col = index % 16
+    row = index // 16
+    vertices = np.asarray(mesh.vertices)
+    low = vertices.min(axis=0)
+    spans = np.maximum(vertices.max(axis=0) - low, .00001)
+    axes = np.argsort(spans)[-2:]
+    uv = (vertices[:, axes] - low[axes]) / spans[axes]
+    uv = .08 + uv * .84
+    uv[:, 0] = (col + uv[:, 0]) / 16
+    uv[:, 1] = 1 - (row + uv[:, 1]) / 16
+    return uv
+
+
+def oak_top_image():
+    size = 768
+    yy, xx = np.mgrid[0:size, 0:size]
+    rng = np.random.default_rng(SEED + 31)
+    grain_coordinate = yy * .096 + 1.7 * np.sin(xx * .004)
+    grain_coordinate += .8 * np.sin(xx * .009 + yy * .006)
+    latewood = np.maximum(0, np.sin(grain_coordinate)) ** 10
+    earlywood = np.sin(grain_coordinate * .34) * 4.0
+    pores = rng.normal(0, .85, (size, size))
+    base = np.array([172, 132, 85], dtype=float)
+    field = earlywood - latewood * 11 + pores
+    rgb = np.clip(base + field[:, :, None], 0, 255).astype(np.uint8)
+    return Image.fromarray(rgb, mode='RGB')
+
+
+def apply_coffee_top_grain(a):
+    # A dedicated atlas patch keeps the top and metal legs in one rigid assembly.
+    image = oak_top_image().resize((256, 256))
+    ATLAS.paste(image.convert('RGBA'), (768, 768))
+    top = a.meshes[0]
+    u = (top.vertices[:, 0] - TABLE_X) / TABLE_W + .5
+    v = (top.vertices[:, 1] - TABLE_Y) / TABLE_D + .5
+    a.uvs[0] = np.column_stack((.752 + u * .246, .002 + v * .246))
+
+
+def window_rebate_profile(length):
+    section = Polygon([
+        (0, 0), (.027, 0), (.027, .009),
+        (.017, .009), (.017, .020), (.011, .020),
+        (.011, .027), (0, .027),
+    ])
+    mesh = trimesh.creation.extrude_polygon(section, height=length)
+    mesh.fix_normals()
+    assert mesh.is_volume
+    return mesh
+
+
+def window_rebates(world):
+    x = -ROOM_W / 2 - .060
+    bottom = WINDOW_SILL + .060
+    top = WINDOW_HEAD - .060
+    clear_h = top - bottom
+    pane_w = (WINDOW_W - .12 - .07) / 3
+    start = WINDOW_Y - WINDOW_W / 2 + .060
+    a = Assembly()
+    for index in range(3):
+        ylo = start + index * (pane_w + .035)
+        yhi = ylo + pane_w
+        for y, sign in [(ylo, 1), (yhi, -1)]:
+            profile = window_rebate_profile(clear_h)
+            vertices = profile.vertices.copy()
+            profile.vertices = np.column_stack((x + .006 + vertices[:, 0],
+                                                 y + sign * vertices[:, 1],
+                                                 bottom + vertices[:, 2]))
+            profile.fix_normals()
+            a.add(profile, IRON)
+            a.box((.006, .005, clear_h), (x + .005, y + sign * .005, (top + bottom) / 2), RUBBER)
+        for z, sign in [(bottom, 1), (top, -1)]:
+            a.box((.021, pane_w, .012), (x + .016, (ylo + yhi) / 2, z + sign * .006), IRON)
+            a.box((.006, pane_w, .005), (x + .005, (ylo + yhi) / 2, z + sign * .003), RUBBER)
+        for y in (ylo + .11, yhi - .11):
+            a.box((.004, .026, .006), (x + .044, y, bottom - .024), RUBBER)
+    register(world, 'window_rebates_and_glazing_gaskets', a.mesh('window_rebate_finish'), IRON, 'window_frame')
+
+
+def radiator_panels(a, length, height, depth):
+    a.rounded((depth, length, height), (0, 0, height / 2), CEILING, .012, .006)
+    front_x = depth / 2 + .004
+    for index in range(20):
+        y = -length / 2 + .045 + index * (length - .09) / 19
+        a.rounded((.008, .035, height - .035),
+                  (front_x, y, height / 2), CEILING, .003, .002)
+    a.box((depth + .006, length + .010, .009), (0, 0, height + .003), CEILING)
+    a.box((depth + .006, length + .010, .009), (0, 0, -.003), CEILING)
+    for index in range(34):
+        y = -length / 2 + .024 + index * (length - .048) / 33
+        a.box((depth * .62, .007, .0014), (0, y, height + .008), IRON)
+    for sign in (-1, 1):
+        a.rounded((depth + .008, .014, height + .008),
+                  (0, sign * (length / 2 + .003), height / 2), CEILING, .005, .003)
+
+
+def radiator_fixings(a, length, height, depth):
+    for sign in (-1, 1):
+        y = sign * length * .32
+        a.box((.004, .042, height * .72),
+              (-depth / 2 - .030, y, height * .50), IRON)
+        a.box((.050, .042, .008),
+              (-depth / 2 - .008, y, height * .78), IRON)
+        a.box((.050, .042, .008),
+              (-depth / 2 - .008, y, height * .23), IRON)
+        for z in (height * .22, height * .78):
+            screw(a, (-depth / 2 - .026, y, z), (1, 0, 0), .0035)
+    for sign in (-1, 1):
+        a.cyl(.010, .027, (0, sign * (length / 2 + .015), .045), NICKEL, (0, 1, 0), 24)
+        a.cyl(.015, .010, (0, sign * (length / 2 + .025), .045), NICKEL, (0, 1, 0), 6)
+    a.cyl(.005, .008, (.018, length / 2 + .013, height - .026), NICKEL, (0, 1, 0), 12)
+
+
+def radiator_valves(a, length):
+    for sign in (-1, 1):
+        y = sign * (length / 2 + .045)
+        a.cyl(.012, .043, (0, y, .032), NICKEL, sections=24)
+        a.cyl(.016, .012, (0, y, .017), NICKEL, sections=6)
+        a.rod((0, y, .011), (0, y, -.135), .007, NICKEL)
+        a.cyl(.022, .005, (0, y, -.137), CEILING, sections=32)
+        if sign == -1:
+            a.add(revolve([
+                (0, 0), (.020, 0), (.021, .005),
+                (.024, .013), (.024, .037), (.019, .043), (0, .043),
+            ], (0, y, .055), sections=40), CEILING)
+            for theta in np.linspace(0, 2 * math.pi, 12, endpoint=False):
+                a.cyl(.0012, .022,
+                      (.024 * math.cos(theta), y + .024 * math.sin(theta), .080),
+                      CEILING, sections=8)
+        else:
+            a.cyl(.015, .025, (0, y, .064), CEILING, sections=24)
+
+
+def window_radiator(world):
+    length = 1.36
+    height = .365
+    depth = .062
+    a = Assembly()
+    radiator_panels(a, length, height, depth)
+    radiator_fixings(a, length, height, depth)
+    radiator_valves(a, length)
+    mesh = local_to_world(a.mesh('radiator_white_enamel'),
+                          (-ROOM_W / 2 + .065, WINDOW_Y, .140))
+    register(world, 'low_panel_radiator', mesh, CEILING, 'radiator')
+
+
+def writer_bell_and_escapement(a):
+    bell = revolve([
+        (0, 0), (.007, 0), (.010, .002),
+        (.014, .007), (.018, .012), (.020, .014),
+        (.020, .017), (.017, .018), (.014, .014),
+        (.010, .008), (.006, .005), (0, .005),
+    ], sections=40)
+    bell.apply_transform(trimesh.geometry.align_vectors((0, 0, 1), (0, 1, 0)))
+    bell.apply_translation((.115, .141, .080))
+    a.add(bell, BRASS)
+    a.rod((.088, .149, .066), (.095, .156, .090), .0018, NICKEL, 12)
+    a.cyl(.0035, .006, (.097, .155, .093), IRON, (1, 0, 0), 16)
+    a.box((.265, .010, .004), (0, .147, .111), NICKEL)
+    for index in range(53):
+        x = -.13 + index * .005
+        a.box((.0022, .004, .004), (x, .153, .109), NICKEL)
+    a.cyl(.016, .004, (.016, .148, .091), NICKEL, (0, 1, 0), 32)
+    a.cyl(.008, .006, (.016, .151, .091), IRON, (0, 1, 0), 24)
+    a.cyl(.0025, .011, (.016, .152, .091), NICKEL, (0, 1, 0), 16)
+    for theta in np.linspace(0, 2 * math.pi, 20, endpoint=False):
+        x = .016 + .016 * math.cos(theta)
+        z = .091 + .016 * math.sin(theta)
+        a.cyl(.0012, .005, (x, .148, z), NICKEL, (0, 1, 0), 8)
+
+
+def writer_rear_paper_table(a):
+    back = box_mesh((.278, .004, .051), (0, .145, .151))
+    rotate_about(back, math.radians(-9), (1, 0, 0), (0, .145, .151))
+    a.add(back, ENAMEL)
+    for side in (-1, 1):
+        a.box((.014, .018, .037), (side * .144, .142, .144), ENAMEL)
+        screw(a, (side * .144, .153, .146), (0, 1, 0), .0028)
+    for x in (-.071, .071):
+        a.box((.013, .009, .019), (x, .146, .129), IRON)
+        a.cyl(.004, .017, (x, .148, .130), NICKEL, (1, 0, 0), 20)
+    a.box((.248, .002, .008), (0, .154, .167), NICKEL)
+    for index in range(26):
+        x = -.118 + index * .0094
+        a.box((.0008, .001, .004 if index % 5 == 0 else .002),
+              (x, .1555, .167), IRON)
+    a.box((.032, .0015, .016), (.098, .153, .136), NICKEL)
+    for index in range(4):
+        a.box((.021 - index * .003, .001, .001),
+              (.098, .1545, .140 - index * .003), INK)
+
+
+def writer_feet_mounts(a):
+    for x in (-.132, .132):
+        for y in (-.115, .100):
+            a.cyl(.021, .003, (x, y, .022), NICKEL, sections=24)
+            a.cyl(.010, .011, (x, y, .027), IRON, sections=24)
+            screw(a, (x, y, .034), radius=.0032)
+    for side in (-1, 1):
+        x = side * .148
+        a.box((.012, .185, .007), (x, -.015, .039), IRON)
+        for y in (-.084, .057):
+            a.cyl(.004, .004, (x, y, .045), NICKEL, sections=16)
+            screw(a, (x, y, .048), radius=.0025)
+    a.box((.228, .019, .006), (0, -.106, .040), IRON)
+    for index in range(10):
+        x = -.108 + index * .024
+        a.box((.008, .016, .005), (x, -.106, .045), RUBBER)
+
+
+def writer_carriage_guides(a):
+    for side in (-1, 1):
+        x = side * .172
+        a.box((.017, .025, .014), (x, .124, .116), IRON)
+        a.cyl(.007, .006, (x, .114, .123), NICKEL, (0, 1, 0), 24)
+        a.cyl(.007, .006, (x, .136, .123), NICKEL, (0, 1, 0), 24)
+        a.cyl(.003, .008, (x, .114, .123), IRON, (0, 1, 0), 12)
+        a.cyl(.003, .008, (x, .136, .123), IRON, (0, 1, 0), 12)
+        a.box((.008, .030, .004), (x, .123, .132), NICKEL)
+        screw(a, (x, .123, .135), radius=.0023)
+    a.box((.125, .008, .012), (-.043, .142, .102), ENAMEL)
+    a.cyl(.011, .006, (-.107, .143, .101), IRON, (0, 1, 0), 24)
+    for index in range(4):
+        a.box((.015, .002, .006), (-.091 + index * .032, .148, .102), NICKEL)
+
+
+def typewriter_extra_hardware(a):
+    writer_bell_and_escapement(a)
+    writer_rear_paper_table(a)
+    writer_feet_mounts(a)
+    writer_carriage_guides(a)
+
+
+def shelf_bookends(world):
+    a = Assembly()
+    for x in (-.596, -.419):
+        a.box((.004, .190, .162), (x, -.012, .559), IRON)
+        outward = -1 if x < -.5 else 1
+        a.box((.027, .190, .003), (x + outward * .012, -.012, .4795), IRON)
+        a.box((.004, .155, .010), (x, -.012, .635), IRON)
+    mesh = local_to_world(a.mesh('bookend_satin_black'),
+                          (BOOKCASE_X, BOOKCASE_Y, 0), -math.pi / 2)
+    register(world, 'console_fixed_bookends', mesh, IRON, 'shelf_fitting')
+
+
+def ceiling_cornice(world):
+    profile = [
+        (0, 0), (.021, 0), (.021, .014),
+        (.016, .020), (.010, .025), (0, .025),
+    ]
+    segments = [
+        ('north', ROOM_W, (0, ROOM_D / 2, ROOM_H), 0),
+        ('south', ROOM_W, (0, -ROOM_D / 2, ROOM_H), math.pi),
+        ('east', ROOM_D, (ROOM_W / 2, 0, ROOM_H), -math.pi / 2),
+        ('west', ROOM_D, (-ROOM_W / 2, 0, ROOM_H), math.pi / 2),
+    ]
+    for name, length, center, angle in segments:
+        mesh = trimesh.creation.extrude_polygon(Polygon(profile), height=length)
+        vertices = mesh.vertices.copy()
+        mesh.vertices = np.column_stack((vertices[:, 2] - length / 2,
+                                         -vertices[:, 0], -vertices[:, 1]))
+        mesh.fix_normals()
+        local_to_world(mesh, center, angle)
+        register(world, 'ceiling_perimeter_trim_' + name, mesh, CEILING, 'trim')
+
+
+def console_rear_fixing(world):
+    a = Assembly()
+    for y in (BOOKCASE_Y - .54, BOOKCASE_Y + .54):
+        back_x = BOOKCASE_X + BOOKCASE_D / 2
+        a.box((ROOM_W / 2 - back_x, .040, .004),
+              ((ROOM_W / 2 + back_x) / 2, y, .811), IRON)
+        a.box((.004, .040, .065),
+              (ROOM_W / 2 - .002, y, .835), IRON)
+        screw(a, (ROOM_W / 2 - .005, y, .846), (-1, 0, 0), .0035)
+        a.cyl(.006, .018, (back_x + .006, y, .811), NICKEL, (0, 0, 1), 12)
+    register(world, 'console_wall_safety_brackets', a.mesh('console_fixings'), IRON, 'wall_bracket')
+
+
+def room_frame_checks(world):
+    objects = {obj.name: obj for obj in world.objects}
+    north = objects['north_plastered_wall'].mesh.bounds
+    east = objects['east_plastered_wall'].mesh.bounds
+    assert abs(north[0, 1] - ROOM_D / 2) < 1e-8
+    assert abs(east[0, 0] - ROOM_W / 2) < 1e-8
+    assert abs(north[0, 2]) < 1e-8
+    assert abs(east[0, 2]) < 1e-8
+    ceiling = objects['ceiling_slab'].mesh.bounds
+    assert abs(ceiling[0, 2] - ROOM_H) < 1e-8
+    west_sill = objects['west_window_sill_wall'].mesh.bounds
+    assert abs(west_sill[1, 2] - WINDOW_SILL) < 1e-8
+    header = objects['west_window_header_wall'].mesh.bounds
+    assert abs(header[0, 2] - WINDOW_HEAD) < 1e-8
+    for index in range(3):
+        pane = objects[f'fixed_glazing_pane_{index + 1}'].mesh.bounds
+        assert pane[0, 2] >= WINDOW_SILL + .059
+        assert pane[1, 2] <= WINDOW_HEAD - .059
+    opening = objects['entry_opening_header'].mesh.bounds
+    assert abs(opening[0, 2] - ENTRY_H) < 1e-8
+    assert abs(opening[1, 0] - opening[0, 0] - ENTRY_W) < 1e-8
+    sofa = objects['tailored_cognac_leather_sofa'].mesh.bounds
+    assert sofa[1, 1] < ROOM_D / 2 - .1
+    assert sofa[0, 0] > -ROOM_W / 2 + .5
+    assert sofa[1, 0] < ROOM_W / 2 - .5
+    table = objects['small_oval_oak_coffee_table'].mesh.bounds
+    assert sofa[0, 1] - table[1, 1] > .5
+    assert table[0, 0] - (-ROOM_W / 2) > 1.8
+    assert table[0, 1] > -ROOM_D / 2 + 1.5
+    world.note('Room construction checked: full ceiling and walls, open entry, fixed window glazing, and over 0.5 m between sofa and coffee table.')
+
+
+def prop_support_checks(world):
+    objects = {obj.name: obj for obj in world.objects}
+    table_names = ['vintage_manual_typewriter', 'olive_pocket_notebook']
+    for name in table_names:
+        bottom = objects[name].mesh.bounds[0, 2]
+        assert abs(bottom - TABLE_TOP_Z) < .0005, name
+    console_top_names = ['chalk_stoneware_vase', 'terracotta_bud_vase']
+    for name in console_top_names:
+        bottom = objects[name].mesh.bounds[0, 2]
+        assert abs(bottom - BOOKCASE_H) < .0005, name
+    upper_books = ['architecture_volume', 'design_volume',
+                   'poetry_volume', 'photography_volume']
+    for name in upper_books:
+        bottom = objects[name].mesh.bounds[0, 2]
+        assert abs(bottom - .478) < .0005, name
+    lower_books = ['large_art_book', 'linen_bound_journal']
+    for name in lower_books:
+        bottom = objects[name].mesh.bounds[0, 2]
+        assert abs(bottom - .1565) < .0005, name
+    assert abs(objects['stoneware_mug'].mesh.bounds[0, 2] - .550) < .0005
+    assert abs(objects['low_olive_ceramic_bowl'].mesh.bounds[0, 2] - .478) < .0005
+    for name in upper_books + lower_books + console_top_names + table_names:
+        assert objects[name].body.motion == 'free'
+        assert objects[name].body.provenance
+    world.note('Source support check: typewriter, notebook, books and ceramic bases align with their intended support surfaces within 0.5 mm.')
+
+
+def book_title_tile(cover, title):
+    colour = colour_bytes(cover)
+    image = Image.new('RGBA', (256, 128), colour)
+    draw = ImageDraw.Draw(image)
+    font = ImageFont.load_default(size=20)
+    small_font = ImageFont.load_default(size=11)
+    line_colour = (199, 179, 133, 255)
+    draw.line((22, 23, 234, 23), fill=line_colour, width=1)
+    draw.line((22, 104, 234, 104), fill=line_colour, width=1)
+    bounds = draw.textbbox((0, 0), title, font=font)
+    text_width = bounds[2] - bounds[0]
+    draw.text(((256 - text_width) / 2, 46), title, font=font, fill=line_colour)
+    subtitle = 'COLLECTED EDITION'
+    bounds = draw.textbbox((0, 0), subtitle, font=small_font)
+    text_width = bounds[2] - bounds[0]
+    draw.text(((256 - text_width) / 2, 77), subtitle, font=small_font, fill=line_colour)
+    return image
+
+
+def book_title_mapping(cover):
+    if cover == CHARCOAL:
+        return 'FORM', 0
+    if cover == RED:
+        return 'OBJECTS', 1
+    if cover == OLIVE:
+        return 'WORDS', 2
+    if cover == OAK_DARK:
+        return 'LIGHT', 3
+    return 'NOTES', 4
+
+
+def book_cover_titles(a, width, depth, thickness, cover):
+    title, index = book_title_mapping(cover)
+    patch = book_title_tile(cover, title).resize((128, 64))
+    px = index * 128
+    py = 640
+    ATLAS.paste(patch, (px, py))
+    label_w = width
+    label_d = depth
+    label = a.meshes[1]
+    uv = np.empty((len(label.vertices), 2))
+    local_u = (label.vertices[:, 0] + label_w / 2) / label_w
+    local_v = (label.vertices[:, 1] + label_d / 2) / label_d
+    uv[:, 0] = (px + 2 + local_u * 124) / ATLAS_SIZE
+    uv[:, 1] = 1 - (py + 2 + (1 - local_v) * 60) / ATLAS_SIZE
+    a.uvs[1] = uv
+
+
+def exterior_window_sill(world):
+    # The window opening also has a weathered exterior edge, not an exposed slab cut.
+    x = -ROOM_W / 2 - WALL_T
+    width = WINDOW_W + .10
+    section = Polygon([
+        (0, 0), (.110, -.011), (.110, -.030),
+        (.098, -.030), (.096, -.021), (.087, -.021),
+        (.085, -.030), (0, -.026),
+    ])
+    mesh = trimesh.creation.extrude_polygon(section, height=width)
+    v = mesh.vertices.copy()
+    mesh.vertices = np.column_stack((x - v[:, 0],
+                                     WINDOW_Y - width / 2 + v[:, 2],
+                                     WINDOW_SILL + v[:, 1]))
+    mesh.fix_normals()
+    register(world, 'exterior_window_sill_drip_profile', mesh, CERAMIC, 'window_sill')
+    for side in (-1, 1):
+        fixed_box(world, f'exterior_window_sill_endcap_{side}',
+                  (.110, .012, .026),
+                  (x - .055, WINDOW_Y + side * width / 2, WINDOW_SILL - .013),
+                  CERAMIC, 'window_sill')
+
+
+def entrance_reveal_details(world):
+    a = Assembly()
+    y = -ROOM_D / 2 - WALL_T - .010
+    for side in (-1, 1):
+        x = ENTRY_X + side * (ENTRY_W / 2 + .017)
+        a.box((.063, .016, ENTRY_H + .050),
+              (x, y, (ENTRY_H + .050) / 2), OAK)
+        for z in (.24, 1.08, 1.94):
+            a.cyl(.0022, .001, (x, y - .0085, z), OAK_DARK, (0, 1, 0), 10)
+    a.box((ENTRY_W + .098, .016, .063),
+          (ENTRY_X, y, ENTRY_H + .018), OAK)
+    for side in (-1, 1):
+        x = ENTRY_X + side * (ENTRY_W / 2 - .013)
+        for z in (.16, 1.06, 2.04):
+            screw(a, (x - side * .015, -ROOM_D / 2 - .070, z),
+                  (-side, 0, 0), .003)
+    register(world, 'entrance_reveal_fixings_and_outer_architrave',
+             a.mesh('entry_reveal_oak'), OAK, 'doorway_frame')
+
+
+def table_edge_quality_checks(world):
+    names = {obj.name: obj for obj in world.objects}
+    coffee = names['small_oval_oak_coffee_table'].mesh
+    side = names['round_oak_side_table'].mesh
+    assert abs(coffee.bounds[1, 2] - TABLE_TOP_Z) < 1e-6
+    assert abs(side.bounds[1, 2] - .550) < 1e-6
+    writer = names['vintage_manual_typewriter'].mesh.bounds
+    margin_x = min(writer[0, 0] - coffee.bounds[0, 0],
+                   coffee.bounds[1, 0] - writer[1, 0])
+    margin_y = min(writer[0, 1] - coffee.bounds[0, 1],
+                   coffee.bounds[1, 1] - writer[1, 1])
+    assert margin_x > .12
+    assert margin_y > .10
+    notebook = names['olive_pocket_notebook'].mesh.bounds
+    assert notebook[0, 0] > writer[1, 0] + .015
+    assert names['wooden_pencil'].body.mass < .02
+    world.note('Typewriter support margins exceed 0.12 m across and 0.10 m front-to-back; notebook remains separate from the machine.')
+
+
+
+def typewriter_contact_pieces():
+    # Automatic processing exhausts memory on the many textured key/linkage parts.
+    # Preserve support feet and the major touch surfaces as separate closed pieces.
+    pieces = []
+    pieces.append(rounded_block((.345, .308, .024), (0, -.005, .030), .036, .005).convex_hull)
+    for x in (-.132, .132):
+        for y in (-.115, .100):
+            pieces.append(cylinder(.018, .020, (x, y, .010), sections=24))
+    for side in (-1, 1):
+        points = []
+        for x in (side * .150, side * .177):
+            points.extend([(x, -.137, .035), (x, .133, .035),
+                           (x, .119, .126), (x, .015, .112), (x, -.137, .055)])
+        pieces.append(trimesh.convex.convex_hull(np.asarray(points)))
+    key_points = []
+    for x in (-.142, .142):
+        key_points.extend([(x, -.163, .044), (x, .018, .044),
+                           (x, .018, .119), (x, -.163, .085)])
+    pieces.append(trimesh.convex.convex_hull(np.asarray(key_points)))
+    pieces.append(box_mesh((.312, .055, .062), (0, .116, .070)).convex_hull)
+    pieces.append(cylinder(.022, .431, (0, .121, .168), (1, 0, 0), 48))
+    paper_points = []
+    for x in (-.099, .099):
+        for z, y in [(.172, .126), (.257, .140), (.344, .152)]:
+            paper_points.extend([(x, y, z), (x, y + .0008, z)])
+    pieces.append(trimesh.convex.convex_hull(np.array(paper_points)))
+    for piece in pieces:
+        local_to_world(piece, (WRITER_X, WRITER_Y, WRITER_BASE_Z), WRITER_YAW)
+        assert piece.is_volume and piece.is_convex
+    return pieces
+
+
+
+def framed_relief_backing(a, x, y, z, width, height):
+    a.box((width - .016, .005, height - .016),
+          (x, y + .012, z), OAK_DARK)
+    rail_width = .022
+    rail_depth = .055
+    for sign in (-1, 1):
+        a.box((rail_width, rail_depth, height),
+              (x + sign * (width / 2 - rail_width / 2), y - .009, z), OAK)
+        a.box((width - 2 * rail_width, rail_depth, rail_width),
+              (x, y - .009, z + sign * (height / 2 - rail_width / 2)), OAK)
+    for xx in (-.43, .43):
+        a.box((.035, .011, .025), (x + xx, y + .018, z + .27), IRON)
+        screw(a, (x + xx, y + .025, z + .27), (0, 1, 0), .0025)
+    for xx in (-width / 2 + .045, width / 2 - .045):
+        for zz in (-height / 2 + .045, height / 2 - .045):
+            a.box((.033, .002, .033), (x + xx, y + .016, z + zz), IRON)
+
+
+
+def tailored_leather_finishing(a):
+    for index in range(3):
+        x = SOFA_X + (index - 1) * .706
+        front_y = SOFA_Y - .431
+        for side in (-1, 1):
+            seam_x = x + side * .302
+            paths = [
+                [(seam_x, front_y + .022, .335),
+                 (seam_x + side * .006, front_y + .011, .353),
+                 (seam_x + side * .008, front_y + .014, .376)],
+                [(seam_x - side * .018, front_y + .017, .334),
+                 (seam_x - side * .011, front_y + .005, .350),
+                 (seam_x - side * .007, front_y + .010, .366)],
+            ]
+            for path in paths:
+                a.add(tube(path, .0009, 8), LEATHER_DARK)
+        rear_y = SOFA_Y + .147
+        for side in (-1, 1):
+            shoulder = x + side * .245
+            path = [
+                (shoulder, rear_y + .032, .808),
+                (shoulder + side * .020, rear_y + .017, .786),
+                (shoulder + side * .028, rear_y + .009, .759),
+            ]
+            a.add(tube(path, .0010, 8), LEATHER_DARK)
+    for side in (-1, 1):
+        arm_x = SOFA_X + side * 1.17
+        for offset in (-.22, .16):
+            path = [
+                (arm_x + side * .103, SOFA_Y + offset - .025, .620),
+                (arm_x + side * .116, SOFA_Y + offset, .593),
+                (arm_x + side * .116, SOFA_Y + offset + .022, .568),
+            ]
+            a.add(tube(path, .0012, 8), LEATHER_DARK)
+        welt = [
+            (arm_x + side * .095, SOFA_Y - .365, .372),
+            (arm_x + side * .117, SOFA_Y - .245, .357),
+            (arm_x + side * .122, SOFA_Y, .351),
+            (arm_x + side * .117, SOFA_Y + .245, .357),
+            (arm_x + side * .095, SOFA_Y + .365, .372),
+        ]
+        a.add(tube(welt, .0016, 8), LEATHER_DARK)
+
+
+def rug_bound_shell():
+    width = 3.38
+    depth = 2.35
+    radius = .09
+    levels = [
+        (0.000, .008),
+        (0.004, .002),
+        (0.010, .000),
+        (RUG_Z - .004, .001),
+        (RUG_Z, .007),
+    ]
+    rings = []
+    for height, inset in levels:
+        outline = rounded_outline(width - inset * 2, depth - inset * 2,
+                                  radius - inset, 16)
+        ring = np.column_stack((outline[:, 0] + SOFA_X,
+                                outline[:, 1] + .38,
+                                np.full(len(outline), height)))
+        rings.append(ring)
+    rug = ring_loft(rings)
+    uv = np.column_stack(((rug.vertices[:, 0] - SOFA_X) / width + .5,
+                          (rug.vertices[:, 1] - .38) / depth + .5))
+    rug.visual = trimesh.visual.TextureVisuals(
+        uv=uv,
+        material=trimesh.visual.material.PBRMaterial(
+            name='oatmeal_woven_rug',
+            baseColorTexture=rug_texture(),
+            baseColorFactor=(255, 255, 255, 255),
+            roughnessFactor=1.0,
+            metallicFactor=0.0,
+            alphaMode='OPAQUE',
+            doubleSided=False,
+        ),
+    )
+    assert abs(rug.bounds[0, 2]) < 1e-9
+    assert abs(rug.bounds[1, 2] - RUG_Z) < 1e-9
+    return rug
+
+
+def typewriter_mass_model():
+    components = [
+        (3.40, (0, -.005, .057), (.345, .308, .075)),
+        (1.90, (0, -.070, .084), (.290, .170, .075)),
+        (1.10, (0, .119, .153), (.380, .045, .045)),
+        (.99, (0, .061, .112), (.275, .104, .055)),
+        (.01, (0, .140, .257), (.198, .002, .170)),
+    ]
+    total = sum(mass for mass, center, size in components)
+    com = sum(mass * np.asarray(center) for mass, center, size in components) / total
+    inertia = np.zeros(3)
+    for mass, center, size in components:
+        sx, sy, sz = size
+        intrinsic = mass / 12 * np.array([sy * sy + sz * sz,
+                                          sx * sx + sz * sz,
+                                          sx * sx + sy * sy])
+        displacement = np.asarray(center) - com
+        parallel = mass * (np.dot(displacement, displacement) - displacement ** 2)
+        inertia += intrinsic + parallel
+    # The horizontal rest envelope is represented by its mean principal inertia;
+    # this explicitly isotropic approximation remains diagonal at the displayed yaw.
+    horizontal = (inertia[0] + inertia[1]) / 2
+    diagonal = (float(horizontal), float(horizontal), float(inertia[2]))
+    rotation = np.array([[math.cos(WRITER_YAW), -math.sin(WRITER_YAW), 0],
+                         [math.sin(WRITER_YAW), math.cos(WRITER_YAW), 0],
+                         [0, 0, 1]])
+    origin = rotation @ com + np.array([WRITER_X, WRITER_Y, WRITER_BASE_Z])
+    assert abs(total - 7.4) < 1e-8
+    assert .055 < com[2] < .125
+    assert min(diagonal) > 0
+    return RigidBody(
+        mass=total,
+        diagonal_inertia=diagonal,
+        provenance=('Estimated 7.4 kg portable typewriter: 3.4 kg chassis, 1.9 kg '
+                    'key mechanism, 1.1 kg carriage/platen, .99 kg basket/spools, '
+                    '.01 kg paper. Mass-weighted COM, component-box inertia with '
+                    'parallel-axis terms and an isotropic horizontal approximation.'),
+        origin=tuple(origin),
+        motion='free',
+    )
+
+
+
+def writer_margin_release_details(a):
+    for side in (-1, 1):
+        x = side * .118
+        a.box((.020, .012, .005), (x, .144, .213), NICKEL)
+        a.box((.012, .009, .006), (x, .141, .218), IRON)
+        a.cyl(.0024, .019, (x, .144, .210), NICKEL, (1, 0, 0), 12)
+        for index in range(3):
+            a.box((.013, .0012, .0012),
+                  (x, .1375 + index * .0024, .2215), NICKEL)
+        screw(a, (x, .148, .214), (0, 1, 0), .0018)
+    a.cyl(.017, .008, (-.128, .145, .086), ENAMEL, (0, 1, 0), 32)
+    a.cyl(.014, .0016, (-.128, .150, .086), NICKEL, (0, 1, 0), 32)
+    a.cyl(.004, .002, (-.128, .151, .086), IRON, (0, 1, 0), 16)
+    screw(a, (-.128, .153, .086), (0, 1, 0), .0022)
+    a.rod((-.126, .149, .102), (-.062, .149, .112), .0013, IRON, 8)
+    a.rounded((.028, .018, .010), (-.142, -.035, .108), ENAMEL, .006, .002)
+    a.box((.017, .009, .002), (-.142, -.036, .114), IVORY)
+    for dx in (-.005, 0, .005):
+        a.box((.001, .005, .0007), (-.142 + dx, -.036, .1155), INK)
+    a.rounded((.022, .018, .010), (.142, -.035, .108), ENAMEL, .006, .002)
+    a.cyl(.005, .002, (.142, -.036, .1145), IVORY, sections=20)
+    a.box((.009, .001, .001), (.142, -.036, .1158), INK)
+    left_scale = [
+        (-.148, -.005, .134),
+        (-.148, .004, .134),
+        (-.148, .013, .134),
+    ]
+    for index, center in enumerate(left_scale):
+        a.cyl(.0016, .001, center, RED if index == 0 else IVORY, sections=10)
+    a.box((.010, .035, .003), (-.148, .004, .131), IRON)
+    a.cyl(.003, .007, (-.148, .004, .136), NICKEL, sections=16)
+    a.box((.017, .003, .006), (.156, .033, .121), NICKEL)
+    a.box((.010, .005, .005), (.158, .033, .127), IRON)
+
+
+
+def abstract_print_image():
+    width = 1144
+    height = 712
+    background = colour_bytes(ART_BG)
+    image = Image.new('RGBA', (width, height), background)
+    draw = ImageDraw.Draw(image)
+    panel_w = 1.395
+    panel_h = .855
+    def pixel(x, z):
+        return ((x / panel_w + .5) * width, (.5 - z / panel_h) * height)
+    arch_points = []
+    for angle in np.linspace(0, math.pi, 96):
+        px = -.19 + .285 * math.cos(angle)
+        pz = -.14 + .285 * math.sin(angle)
+        arch_points.append(pixel(px, pz))
+    arch_points.extend([pixel(-.475, -.27), pixel(.095, -.27)])
+    draw.polygon(arch_points, fill=colour_bytes(ART_OCHRE))
+    radius = .147
+    cx = .30
+    cz = .17
+    top_left = pixel(cx - radius, cz + radius)
+    bottom_right = pixel(cx + radius, cz - radius)
+    draw.ellipse((*top_left, *bottom_right), fill=colour_bytes(ART_BLACK))
+    stairs = [
+        (.125, -.29), (.495, -.29), (.495, -.20),
+        (.425, -.20), (.425, -.11), (.355, -.11),
+        (.355, -.02), (.285, -.02), (.285, .07), (.125, .07),
+    ]
+    draw.polygon([pixel(px, pz) for px, pz in stairs], fill=colour_bytes(TERRA))
+    for index in range(5):
+        z = .257 + index * .013
+        left = pixel(-.450, z)
+        right = pixel(-.040, z)
+        draw.line((*left, *right), fill=colour_bytes(ART_BLACK), width=3)
+    margin_x = 40
+    margin_y = 38
+    border_colour = tuple(min(255, c + 7) for c in background[:3]) + (255,)
+    draw.rectangle((margin_x, margin_y, width - margin_x, height - margin_y),
+                   outline=border_colour, width=1)
+    return image
+
+
+def printed_art_panel(world, x, y, z):
+    width = 1.395
+    height = .855
+    thickness = .006
+    center = (x, y - .024, z)
+    mesh = box_mesh((width, thickness, height), center)
+    uv = np.empty((len(mesh.vertices), 2))
+    uv[:, 0] = (mesh.vertices[:, 0] - x) / width + .5
+    uv[:, 1] = (mesh.vertices[:, 2] - z) / height + .5
+    mesh.visual = trimesh.visual.TextureVisuals(
+        uv=uv,
+        material=trimesh.visual.material.PBRMaterial(
+            name='abstract_print_ochre_terracotta_charcoal',
+            baseColorTexture=abstract_print_image(),
+            baseColorFactor=(255, 255, 255, 255),
+            roughnessFactor=.97,
+            metallicFactor=0.0,
+            alphaMode='OPAQUE',
+            doubleSided=False,
+        ),
+    )
+    register(world, 'abstract_art_printed_panel', mesh, ART_BG, 'wall_art', collidable=False)
+    assert abs(mesh.extents[0] - width) < 1e-8
+    assert abs(mesh.extents[2] - height) < 1e-8
+    assert mesh.bounds[0, 1] < y - .025
+    assert mesh.bounds[1, 1] < y - .020
+
+
+def build():
+    enrich_surface_atlas()
+    world = Environment()
+    world.description = (
+        'Quiet Keys: a contemporary living room with a cognac leather sofa, '
+        'small oval oak coffee table and detailed vintage manual typewriter. '
+        'Warm plaster, oak floorboards, linen curtains, a woven rug and restrained '
+        'abstract art support the seating composition. Complete enclosed room, '
+        'fixed west glazing and a cased south entrance. Synthetic design from text.'
+    )
+    world.gravity_m_s2 = 9.81
+    room_shell(world)
+    skirtings(world)
+    fixed_window(world)
+    window_rebates(world)
+    exterior_window_sill(world)
+    window_radiator(world)
+    entrance_reveal_details(world)
+    ceiling_cornice(world)
+    curtains(world)
+    living_rug(world)
+    leather_sofa(world)
+    coffee_table(world)
+    vintage_typewriter(world)
+    notebook_on_table(world)
+    pencil_on_notebook(world)
+    side_table(world)
+    mug(world)
+    floor_lamp(world)
+    ceiling_light(world)
+    artwork(world)
+    console_frame(world)
+    console_books(world)
+    shelf_bookends(world)
+    console_rear_fixing(world)
+    ceramic_vases(world)
+    ceramic_bowl(world)
+    room_routes(world)
+    dimensional_checks(world)
+    room_frame_checks(world)
+    prop_support_checks(world)
+    table_edge_quality_checks(world)
+    return world

scenes/scene_056/source/design/asset.yaml

@@ -0,0 +1,1932 @@
+schema_version: "nova.asset/v1alpha1"
+asset_id: "world"
+root_entity_id: "asset.root"
+entities:
+  asset.root:
+    label: "world"
+    kind: "assembly"
+    geometry: "mesh_group"
+  part.structural_floor_slab:
+    label: "structural_floor_slab"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_00_00:
+    label: "oak_floor_board_00_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_00_01:
+    label: "oak_floor_board_00_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_00_02:
+    label: "oak_floor_board_00_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_00_03:
+    label: "oak_floor_board_00_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_00_04:
+    label: "oak_floor_board_00_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_01_00:
+    label: "oak_floor_board_01_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_01_01:
+    label: "oak_floor_board_01_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_01_02:
+    label: "oak_floor_board_01_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_01_03:
+    label: "oak_floor_board_01_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_01_04:
+    label: "oak_floor_board_01_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_02_00:
+    label: "oak_floor_board_02_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_02_01:
+    label: "oak_floor_board_02_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_02_02:
+    label: "oak_floor_board_02_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_02_03:
+    label: "oak_floor_board_02_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_02_04:
+    label: "oak_floor_board_02_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_03_00:
+    label: "oak_floor_board_03_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_03_01:
+    label: "oak_floor_board_03_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_03_02:
+    label: "oak_floor_board_03_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_03_03:
+    label: "oak_floor_board_03_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_03_04:
+    label: "oak_floor_board_03_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_04_00:
+    label: "oak_floor_board_04_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_04_01:
+    label: "oak_floor_board_04_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_04_02:
+    label: "oak_floor_board_04_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_04_03:
+    label: "oak_floor_board_04_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_04_04:
+    label: "oak_floor_board_04_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_05_00:
+    label: "oak_floor_board_05_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_05_01:
+    label: "oak_floor_board_05_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_05_02:
+    label: "oak_floor_board_05_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_05_03:
+    label: "oak_floor_board_05_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_05_04:
+    label: "oak_floor_board_05_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_06_00:
+    label: "oak_floor_board_06_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_06_01:
+    label: "oak_floor_board_06_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_06_02:
+    label: "oak_floor_board_06_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_06_03:
+    label: "oak_floor_board_06_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_06_04:
+    label: "oak_floor_board_06_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_07_00:
+    label: "oak_floor_board_07_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_07_01:
+    label: "oak_floor_board_07_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_07_02:
+    label: "oak_floor_board_07_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_07_03:
+    label: "oak_floor_board_07_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_07_04:
+    label: "oak_floor_board_07_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_08_00:
+    label: "oak_floor_board_08_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_08_01:
+    label: "oak_floor_board_08_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_08_02:
+    label: "oak_floor_board_08_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_08_03:
+    label: "oak_floor_board_08_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_08_04:
+    label: "oak_floor_board_08_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_09_00:
+    label: "oak_floor_board_09_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_09_01:
+    label: "oak_floor_board_09_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_09_02:
+    label: "oak_floor_board_09_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_09_03:
+    label: "oak_floor_board_09_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_09_04:
+    label: "oak_floor_board_09_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_10_00:
+    label: "oak_floor_board_10_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_10_01:
+    label: "oak_floor_board_10_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_10_02:
+    label: "oak_floor_board_10_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_10_03:
+    label: "oak_floor_board_10_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_10_04:
+    label: "oak_floor_board_10_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_11_00:
+    label: "oak_floor_board_11_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_11_01:
+    label: "oak_floor_board_11_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_11_02:
+    label: "oak_floor_board_11_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_11_03:
+    label: "oak_floor_board_11_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_11_04:
+    label: "oak_floor_board_11_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_12_00:
+    label: "oak_floor_board_12_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_12_01:
+    label: "oak_floor_board_12_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_12_02:
+    label: "oak_floor_board_12_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_12_03:
+    label: "oak_floor_board_12_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_12_04:
+    label: "oak_floor_board_12_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_13_00:
+    label: "oak_floor_board_13_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_13_01:
+    label: "oak_floor_board_13_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_13_02:
+    label: "oak_floor_board_13_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_13_03:
+    label: "oak_floor_board_13_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_13_04:
+    label: "oak_floor_board_13_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_14_00:
+    label: "oak_floor_board_14_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_14_01:
+    label: "oak_floor_board_14_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_14_02:
+    label: "oak_floor_board_14_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_14_03:
+    label: "oak_floor_board_14_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_14_04:
+    label: "oak_floor_board_14_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_15_00:
+    label: "oak_floor_board_15_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_15_01:
+    label: "oak_floor_board_15_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_15_02:
+    label: "oak_floor_board_15_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_15_03:
+    label: "oak_floor_board_15_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_15_04:
+    label: "oak_floor_board_15_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_16_00:
+    label: "oak_floor_board_16_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_16_01:
+    label: "oak_floor_board_16_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_16_02:
+    label: "oak_floor_board_16_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_16_03:
+    label: "oak_floor_board_16_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_16_04:
+    label: "oak_floor_board_16_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_17_00:
+    label: "oak_floor_board_17_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_17_01:
+    label: "oak_floor_board_17_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_17_02:
+    label: "oak_floor_board_17_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_17_03:
+    label: "oak_floor_board_17_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_17_04:
+    label: "oak_floor_board_17_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_18_00:
+    label: "oak_floor_board_18_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_18_01:
+    label: "oak_floor_board_18_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_18_02:
+    label: "oak_floor_board_18_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_18_03:
+    label: "oak_floor_board_18_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_18_04:
+    label: "oak_floor_board_18_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_19_00:
+    label: "oak_floor_board_19_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_19_01:
+    label: "oak_floor_board_19_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_19_02:
+    label: "oak_floor_board_19_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_19_03:
+    label: "oak_floor_board_19_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_19_04:
+    label: "oak_floor_board_19_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_20_00:
+    label: "oak_floor_board_20_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_20_01:
+    label: "oak_floor_board_20_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_20_02:
+    label: "oak_floor_board_20_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_20_03:
+    label: "oak_floor_board_20_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_20_04:
+    label: "oak_floor_board_20_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_21_00:
+    label: "oak_floor_board_21_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_21_01:
+    label: "oak_floor_board_21_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_21_02:
+    label: "oak_floor_board_21_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_21_03:
+    label: "oak_floor_board_21_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_21_04:
+    label: "oak_floor_board_21_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_22_00:
+    label: "oak_floor_board_22_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_22_01:
+    label: "oak_floor_board_22_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_22_02:
+    label: "oak_floor_board_22_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_22_03:
+    label: "oak_floor_board_22_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_22_04:
+    label: "oak_floor_board_22_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_23_00:
+    label: "oak_floor_board_23_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_23_01:
+    label: "oak_floor_board_23_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_23_02:
+    label: "oak_floor_board_23_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_23_03:
+    label: "oak_floor_board_23_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_23_04:
+    label: "oak_floor_board_23_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_24_00:
+    label: "oak_floor_board_24_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_24_01:
+    label: "oak_floor_board_24_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_24_02:
+    label: "oak_floor_board_24_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_24_03:
+    label: "oak_floor_board_24_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_24_04:
+    label: "oak_floor_board_24_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_25_00:
+    label: "oak_floor_board_25_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_25_01:
+    label: "oak_floor_board_25_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_25_02:
+    label: "oak_floor_board_25_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_25_03:
+    label: "oak_floor_board_25_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_25_04:
+    label: "oak_floor_board_25_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_26_00:
+    label: "oak_floor_board_26_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_26_01:
+    label: "oak_floor_board_26_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_26_02:
+    label: "oak_floor_board_26_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_26_03:
+    label: "oak_floor_board_26_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_26_04:
+    label: "oak_floor_board_26_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_27_00:
+    label: "oak_floor_board_27_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_27_01:
+    label: "oak_floor_board_27_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_27_02:
+    label: "oak_floor_board_27_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_27_03:
+    label: "oak_floor_board_27_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_27_04:
+    label: "oak_floor_board_27_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_28_00:
+    label: "oak_floor_board_28_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_28_01:
+    label: "oak_floor_board_28_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_28_02:
+    label: "oak_floor_board_28_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_28_03:
+    label: "oak_floor_board_28_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_28_04:
+    label: "oak_floor_board_28_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_29_00:
+    label: "oak_floor_board_29_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_29_01:
+    label: "oak_floor_board_29_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_29_02:
+    label: "oak_floor_board_29_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_29_03:
+    label: "oak_floor_board_29_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_29_04:
+    label: "oak_floor_board_29_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_30_00:
+    label: "oak_floor_board_30_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_30_01:
+    label: "oak_floor_board_30_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_30_02:
+    label: "oak_floor_board_30_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_30_03:
+    label: "oak_floor_board_30_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_30_04:
+    label: "oak_floor_board_30_04"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_31_00:
+    label: "oak_floor_board_31_00"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_31_01:
+    label: "oak_floor_board_31_01"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_31_02:
+    label: "oak_floor_board_31_02"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_31_03:
+    label: "oak_floor_board_31_03"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_floor_board_31_04:
+    label: "oak_floor_board_31_04"
+    kind: "part"
+    geometry: "mesh"
+  part.north_plastered_wall:
+    label: "north_plastered_wall"
+    kind: "part"
+    geometry: "mesh"
+  part.east_plastered_wall:
+    label: "east_plastered_wall"
+    kind: "part"
+    geometry: "mesh"
+  part.south_wall_west_pier:
+    label: "south_wall_west_pier"
+    kind: "part"
+    geometry: "mesh"
+  part.south_wall_east_pier:
+    label: "south_wall_east_pier"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_opening_header:
+    label: "entry_opening_header"
+    kind: "part"
+    geometry: "mesh"
+  part.west_window_sill_wall:
+    label: "west_window_sill_wall"
+    kind: "part"
+    geometry: "mesh"
+  part.west_window_header_wall:
+    label: "west_window_header_wall"
+    kind: "part"
+    geometry: "mesh"
+  part.west_wall_south_pier:
+    label: "west_wall_south_pier"
+    kind: "part"
+    geometry: "mesh"
+  part.west_wall_north_pier:
+    label: "west_wall_north_pier"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_slab:
+    label: "ceiling_slab"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_threshold:
+    label: "entry_threshold"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_approach_slab:
+    label: "entry_approach_slab"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_skirting_north:
+    label: "oak_skirting_north"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_skirting_east:
+    label: "oak_skirting_east"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_skirting_west:
+    label: "oak_skirting_west"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_skirting_south_left:
+    label: "oak_skirting_south_left"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_skirting_south_right:
+    label: "oak_skirting_south_right"
+    kind: "part"
+    geometry: "mesh"
+  "part.entry_oak_jamb_-1":
+    label: "entry_oak_jamb_-1"
+    kind: "part"
+    geometry: "mesh"
+  "part.entry_front_architrave_-1":
+    label: "entry_front_architrave_-1"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_oak_jamb_1:
+    label: "entry_oak_jamb_1"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_front_architrave_1:
+    label: "entry_front_architrave_1"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_oak_head_lining:
+    label: "entry_oak_head_lining"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_oak_head_architrave:
+    label: "entry_oak_head_architrave"
+    kind: "part"
+    geometry: "mesh"
+  part.fixed_window_frame_and_sill:
+    label: "fixed_window_frame_and_sill"
+    kind: "part"
+    geometry: "mesh"
+  part.fixed_glazing_pane_1:
+    label: "fixed_glazing_pane_1"
+    kind: "part"
+    geometry: "mesh"
+  part.fixed_glazing_pane_2:
+    label: "fixed_glazing_pane_2"
+    kind: "part"
+    geometry: "mesh"
+  part.fixed_glazing_pane_3:
+    label: "fixed_glazing_pane_3"
+    kind: "part"
+    geometry: "mesh"
+  part.north_wall_socket_left:
+    label: "north_wall_socket_left"
+    kind: "part"
+    geometry: "mesh"
+  part.north_wall_socket_right:
+    label: "north_wall_socket_right"
+    kind: "part"
+    geometry: "mesh"
+  part.entry_light_switch:
+    label: "entry_light_switch"
+    kind: "part"
+    geometry: "mesh"
+  part.window_rebates_and_glazing_gaskets:
+    label: "window_rebates_and_glazing_gaskets"
+    kind: "part"
+    geometry: "mesh"
+  part.exterior_window_sill_drip_profile:
+    label: "exterior_window_sill_drip_profile"
+    kind: "part"
+    geometry: "mesh"
+  "part.exterior_window_sill_endcap_-1":
+    label: "exterior_window_sill_endcap_-1"
+    kind: "part"
+    geometry: "mesh"
+  part.exterior_window_sill_endcap_1:
+    label: "exterior_window_sill_endcap_1"
+    kind: "part"
+    geometry: "mesh"
+  part.low_panel_radiator:
+    label: "low_panel_radiator"
+    kind: "part"
+    geometry: "mesh"
+  part.entrance_reveal_fixings_and_outer_architrave:
+    label: "entrance_reveal_fixings_and_outer_architrave"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_perimeter_trim_north:
+    label: "ceiling_perimeter_trim_north"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_perimeter_trim_south:
+    label: "ceiling_perimeter_trim_south"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_perimeter_trim_east:
+    label: "ceiling_perimeter_trim_east"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_perimeter_trim_west:
+    label: "ceiling_perimeter_trim_west"
+    kind: "part"
+    geometry: "mesh"
+  part.curtain_rail_and_wall_brackets:
+    label: "curtain_rail_and_wall_brackets"
+    kind: "part"
+    geometry: "mesh"
+  "part.linen_curtain_panel_-1":
+    label: "linen_curtain_panel_-1"
+    kind: "part"
+    geometry: "mesh"
+  "part.curtain_hems_and_rings_-1":
+    label: "curtain_hems_and_rings_-1"
+    kind: "part"
+    geometry: "mesh"
+  part.linen_curtain_panel_1:
+    label: "linen_curtain_panel_1"
+    kind: "part"
+    geometry: "mesh"
+  part.curtain_hems_and_rings_1:
+    label: "curtain_hems_and_rings_1"
+    kind: "part"
+    geometry: "mesh"
+  part.oatmeal_bound_area_rug:
+    label: "oatmeal_bound_area_rug"
+    kind: "part"
+    geometry: "mesh"
+  part.tailored_cognac_leather_sofa:
+    label: "tailored_cognac_leather_sofa"
+    kind: "part"
+    geometry: "mesh"
+  part.small_oval_oak_coffee_table:
+    label: "small_oval_oak_coffee_table"
+    kind: "part"
+    geometry: "mesh"
+  part.vintage_manual_typewriter:
+    label: "vintage_manual_typewriter"
+    kind: "part"
+    geometry: "mesh"
+  part.olive_pocket_notebook:
+    label: "olive_pocket_notebook"
+    kind: "part"
+    geometry: "mesh"
+  part.wooden_pencil:
+    label: "wooden_pencil"
+    kind: "part"
+    geometry: "mesh"
+  part.round_oak_side_table:
+    label: "round_oak_side_table"
+    kind: "part"
+    geometry: "mesh"
+  part.stoneware_mug:
+    label: "stoneware_mug"
+    kind: "part"
+    geometry: "mesh"
+  part.reading_floor_lamp:
+    label: "reading_floor_lamp"
+    kind: "part"
+    geometry: "mesh"
+  part.ceiling_pendant:
+    label: "ceiling_pendant"
+    kind: "part"
+    geometry: "mesh"
+  part.oak_frame_abstract_art:
+    label: "oak_frame_abstract_art"
+    kind: "part"
+    geometry: "mesh"
+  part.abstract_art_printed_panel:
+    label: "abstract_art_printed_panel"
+    kind: "part"
+    geometry: "mesh"
+  part.open_oak_display_console:
+    label: "open_oak_display_console"
+    kind: "part"
+    geometry: "mesh"
+  part.architecture_volume:
+    label: "architecture_volume"
+    kind: "part"
+    geometry: "mesh"
+  part.design_volume:
+    label: "design_volume"
+    kind: "part"
+    geometry: "mesh"
+  part.poetry_volume:
+    label: "poetry_volume"
+    kind: "part"
+    geometry: "mesh"
+  part.photography_volume:
+    label: "photography_volume"
+    kind: "part"
+    geometry: "mesh"
+  part.large_art_book:
+    label: "large_art_book"
+    kind: "part"
+    geometry: "mesh"
+  part.small_essay_book:
+    label: "small_essay_book"
+    kind: "part"
+    geometry: "mesh"
+  part.linen_bound_journal:
+    label: "linen_bound_journal"
+    kind: "part"
+    geometry: "mesh"
+  part.green_bound_journal:
+    label: "green_bound_journal"
+    kind: "part"
+    geometry: "mesh"
+  part.console_fixed_bookends:
+    label: "console_fixed_bookends"
+    kind: "part"
+    geometry: "mesh"
+  part.console_wall_safety_brackets:
+    label: "console_wall_safety_brackets"
+    kind: "part"
+    geometry: "mesh"
+  part.chalk_stoneware_vase:
+    label: "chalk_stoneware_vase"
+    kind: "part"
+    geometry: "mesh"
+  part.terracotta_bud_vase:
+    label: "terracotta_bud_vase"
+    kind: "part"
+    geometry: "mesh"
+  part.low_olive_ceramic_bowl:
+    label: "low_olive_ceramic_bowl"
+    kind: "part"
+    geometry: "mesh"
+connections:
+  part.structural_floor_slab:
+    parent: "asset.root"
+    child: "part.structural_floor_slab"
+  part.oak_floor_board_00_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_00_00"
+  part.oak_floor_board_00_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_00_01"
+  part.oak_floor_board_00_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_00_02"
+  part.oak_floor_board_00_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_00_03"
+  part.oak_floor_board_00_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_00_04"
+  part.oak_floor_board_01_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_01_00"
+  part.oak_floor_board_01_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_01_01"
+  part.oak_floor_board_01_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_01_02"
+  part.oak_floor_board_01_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_01_03"
+  part.oak_floor_board_01_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_01_04"
+  part.oak_floor_board_02_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_02_00"
+  part.oak_floor_board_02_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_02_01"
+  part.oak_floor_board_02_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_02_02"
+  part.oak_floor_board_02_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_02_03"
+  part.oak_floor_board_02_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_02_04"
+  part.oak_floor_board_03_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_03_00"
+  part.oak_floor_board_03_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_03_01"
+  part.oak_floor_board_03_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_03_02"
+  part.oak_floor_board_03_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_03_03"
+  part.oak_floor_board_03_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_03_04"
+  part.oak_floor_board_04_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_04_00"
+  part.oak_floor_board_04_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_04_01"
+  part.oak_floor_board_04_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_04_02"
+  part.oak_floor_board_04_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_04_03"
+  part.oak_floor_board_04_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_04_04"
+  part.oak_floor_board_05_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_05_00"
+  part.oak_floor_board_05_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_05_01"
+  part.oak_floor_board_05_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_05_02"
+  part.oak_floor_board_05_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_05_03"
+  part.oak_floor_board_05_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_05_04"
+  part.oak_floor_board_06_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_06_00"
+  part.oak_floor_board_06_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_06_01"
+  part.oak_floor_board_06_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_06_02"
+  part.oak_floor_board_06_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_06_03"
+  part.oak_floor_board_06_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_06_04"
+  part.oak_floor_board_07_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_07_00"
+  part.oak_floor_board_07_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_07_01"
+  part.oak_floor_board_07_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_07_02"
+  part.oak_floor_board_07_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_07_03"
+  part.oak_floor_board_07_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_07_04"
+  part.oak_floor_board_08_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_08_00"
+  part.oak_floor_board_08_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_08_01"
+  part.oak_floor_board_08_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_08_02"
+  part.oak_floor_board_08_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_08_03"
+  part.oak_floor_board_08_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_08_04"
+  part.oak_floor_board_09_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_09_00"
+  part.oak_floor_board_09_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_09_01"
+  part.oak_floor_board_09_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_09_02"
+  part.oak_floor_board_09_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_09_03"
+  part.oak_floor_board_09_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_09_04"
+  part.oak_floor_board_10_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_10_00"
+  part.oak_floor_board_10_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_10_01"
+  part.oak_floor_board_10_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_10_02"
+  part.oak_floor_board_10_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_10_03"
+  part.oak_floor_board_10_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_10_04"
+  part.oak_floor_board_11_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_11_00"
+  part.oak_floor_board_11_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_11_01"
+  part.oak_floor_board_11_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_11_02"
+  part.oak_floor_board_11_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_11_03"
+  part.oak_floor_board_11_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_11_04"
+  part.oak_floor_board_12_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_12_00"
+  part.oak_floor_board_12_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_12_01"
+  part.oak_floor_board_12_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_12_02"
+  part.oak_floor_board_12_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_12_03"
+  part.oak_floor_board_12_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_12_04"
+  part.oak_floor_board_13_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_13_00"
+  part.oak_floor_board_13_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_13_01"
+  part.oak_floor_board_13_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_13_02"
+  part.oak_floor_board_13_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_13_03"
+  part.oak_floor_board_13_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_13_04"
+  part.oak_floor_board_14_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_14_00"
+  part.oak_floor_board_14_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_14_01"
+  part.oak_floor_board_14_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_14_02"
+  part.oak_floor_board_14_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_14_03"
+  part.oak_floor_board_14_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_14_04"
+  part.oak_floor_board_15_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_15_00"
+  part.oak_floor_board_15_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_15_01"
+  part.oak_floor_board_15_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_15_02"
+  part.oak_floor_board_15_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_15_03"
+  part.oak_floor_board_15_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_15_04"
+  part.oak_floor_board_16_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_16_00"
+  part.oak_floor_board_16_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_16_01"
+  part.oak_floor_board_16_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_16_02"
+  part.oak_floor_board_16_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_16_03"
+  part.oak_floor_board_16_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_16_04"
+  part.oak_floor_board_17_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_17_00"
+  part.oak_floor_board_17_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_17_01"
+  part.oak_floor_board_17_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_17_02"
+  part.oak_floor_board_17_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_17_03"
+  part.oak_floor_board_17_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_17_04"
+  part.oak_floor_board_18_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_18_00"
+  part.oak_floor_board_18_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_18_01"
+  part.oak_floor_board_18_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_18_02"
+  part.oak_floor_board_18_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_18_03"
+  part.oak_floor_board_18_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_18_04"
+  part.oak_floor_board_19_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_19_00"
+  part.oak_floor_board_19_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_19_01"
+  part.oak_floor_board_19_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_19_02"
+  part.oak_floor_board_19_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_19_03"
+  part.oak_floor_board_19_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_19_04"
+  part.oak_floor_board_20_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_20_00"
+  part.oak_floor_board_20_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_20_01"
+  part.oak_floor_board_20_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_20_02"
+  part.oak_floor_board_20_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_20_03"
+  part.oak_floor_board_20_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_20_04"
+  part.oak_floor_board_21_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_21_00"
+  part.oak_floor_board_21_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_21_01"
+  part.oak_floor_board_21_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_21_02"
+  part.oak_floor_board_21_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_21_03"
+  part.oak_floor_board_21_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_21_04"
+  part.oak_floor_board_22_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_22_00"
+  part.oak_floor_board_22_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_22_01"
+  part.oak_floor_board_22_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_22_02"
+  part.oak_floor_board_22_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_22_03"
+  part.oak_floor_board_22_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_22_04"
+  part.oak_floor_board_23_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_23_00"
+  part.oak_floor_board_23_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_23_01"
+  part.oak_floor_board_23_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_23_02"
+  part.oak_floor_board_23_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_23_03"
+  part.oak_floor_board_23_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_23_04"
+  part.oak_floor_board_24_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_24_00"
+  part.oak_floor_board_24_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_24_01"
+  part.oak_floor_board_24_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_24_02"
+  part.oak_floor_board_24_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_24_03"
+  part.oak_floor_board_24_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_24_04"
+  part.oak_floor_board_25_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_25_00"
+  part.oak_floor_board_25_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_25_01"
+  part.oak_floor_board_25_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_25_02"
+  part.oak_floor_board_25_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_25_03"
+  part.oak_floor_board_25_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_25_04"
+  part.oak_floor_board_26_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_26_00"
+  part.oak_floor_board_26_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_26_01"
+  part.oak_floor_board_26_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_26_02"
+  part.oak_floor_board_26_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_26_03"
+  part.oak_floor_board_26_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_26_04"
+  part.oak_floor_board_27_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_27_00"
+  part.oak_floor_board_27_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_27_01"
+  part.oak_floor_board_27_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_27_02"
+  part.oak_floor_board_27_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_27_03"
+  part.oak_floor_board_27_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_27_04"
+  part.oak_floor_board_28_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_28_00"
+  part.oak_floor_board_28_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_28_01"
+  part.oak_floor_board_28_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_28_02"
+  part.oak_floor_board_28_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_28_03"
+  part.oak_floor_board_28_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_28_04"
+  part.oak_floor_board_29_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_29_00"
+  part.oak_floor_board_29_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_29_01"
+  part.oak_floor_board_29_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_29_02"
+  part.oak_floor_board_29_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_29_03"
+  part.oak_floor_board_29_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_29_04"
+  part.oak_floor_board_30_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_30_00"
+  part.oak_floor_board_30_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_30_01"
+  part.oak_floor_board_30_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_30_02"
+  part.oak_floor_board_30_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_30_03"
+  part.oak_floor_board_30_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_30_04"
+  part.oak_floor_board_31_00:
+    parent: "asset.root"
+    child: "part.oak_floor_board_31_00"
+  part.oak_floor_board_31_01:
+    parent: "asset.root"
+    child: "part.oak_floor_board_31_01"
+  part.oak_floor_board_31_02:
+    parent: "asset.root"
+    child: "part.oak_floor_board_31_02"
+  part.oak_floor_board_31_03:
+    parent: "asset.root"
+    child: "part.oak_floor_board_31_03"
+  part.oak_floor_board_31_04:
+    parent: "asset.root"
+    child: "part.oak_floor_board_31_04"
+  part.north_plastered_wall:
+    parent: "asset.root"
+    child: "part.north_plastered_wall"
+  part.east_plastered_wall:
+    parent: "asset.root"
+    child: "part.east_plastered_wall"
+  part.south_wall_west_pier:
+    parent: "asset.root"
+    child: "part.south_wall_west_pier"
+  part.south_wall_east_pier:
+    parent: "asset.root"
+    child: "part.south_wall_east_pier"
+  part.entry_opening_header:
+    parent: "asset.root"
+    child: "part.entry_opening_header"
+  part.west_window_sill_wall:
+    parent: "asset.root"
+    child: "part.west_window_sill_wall"
+  part.west_window_header_wall:
+    parent: "asset.root"
+    child: "part.west_window_header_wall"
+  part.west_wall_south_pier:
+    parent: "asset.root"
+    child: "part.west_wall_south_pier"
+  part.west_wall_north_pier:
+    parent: "asset.root"
+    child: "part.west_wall_north_pier"
+  part.ceiling_slab:
+    parent: "asset.root"
+    child: "part.ceiling_slab"
+  part.entry_threshold:
+    parent: "asset.root"
+    child: "part.entry_threshold"
+  part.entry_approach_slab:
+    parent: "asset.root"
+    child: "part.entry_approach_slab"
+  part.oak_skirting_north:
+    parent: "asset.root"
+    child: "part.oak_skirting_north"
+  part.oak_skirting_east:
+    parent: "asset.root"
+    child: "part.oak_skirting_east"
+  part.oak_skirting_west:
+    parent: "asset.root"
+    child: "part.oak_skirting_west"
+  part.oak_skirting_south_left:
+    parent: "asset.root"
+    child: "part.oak_skirting_south_left"
+  part.oak_skirting_south_right:
+    parent: "asset.root"
+    child: "part.oak_skirting_south_right"
+  "part.entry_oak_jamb_-1":
+    parent: "asset.root"
+    child: "part.entry_oak_jamb_-1"
+  "part.entry_front_architrave_-1":
+    parent: "asset.root"
+    child: "part.entry_front_architrave_-1"
+  part.entry_oak_jamb_1:
+    parent: "asset.root"
+    child: "part.entry_oak_jamb_1"
+  part.entry_front_architrave_1:
+    parent: "asset.root"
+    child: "part.entry_front_architrave_1"
+  part.entry_oak_head_lining:
+    parent: "asset.root"
+    child: "part.entry_oak_head_lining"
+  part.entry_oak_head_architrave:
+    parent: "asset.root"
+    child: "part.entry_oak_head_architrave"
+  part.fixed_window_frame_and_sill:
+    parent: "asset.root"
+    child: "part.fixed_window_frame_and_sill"
+  part.fixed_glazing_pane_1:
+    parent: "asset.root"
+    child: "part.fixed_glazing_pane_1"
+  part.fixed_glazing_pane_2:
+    parent: "asset.root"
+    child: "part.fixed_glazing_pane_2"
+  part.fixed_glazing_pane_3:
+    parent: "asset.root"
+    child: "part.fixed_glazing_pane_3"
+  part.north_wall_socket_left:
+    parent: "asset.root"
+    child: "part.north_wall_socket_left"
+  part.north_wall_socket_right:
+    parent: "asset.root"
+    child: "part.north_wall_socket_right"
+  part.entry_light_switch:
+    parent: "asset.root"
+    child: "part.entry_light_switch"
+  part.window_rebates_and_glazing_gaskets:
+    parent: "asset.root"
+    child: "part.window_rebates_and_glazing_gaskets"
+  part.exterior_window_sill_drip_profile:
+    parent: "asset.root"
+    child: "part.exterior_window_sill_drip_profile"
+  "part.exterior_window_sill_endcap_-1":
+    parent: "asset.root"
+    child: "part.exterior_window_sill_endcap_-1"
+  part.exterior_window_sill_endcap_1:
+    parent: "asset.root"
+    child: "part.exterior_window_sill_endcap_1"
+  part.low_panel_radiator:
+    parent: "asset.root"
+    child: "part.low_panel_radiator"
+  part.entrance_reveal_fixings_and_outer_architrave:
+    parent: "asset.root"
+    child: "part.entrance_reveal_fixings_and_outer_architrave"
+  part.ceiling_perimeter_trim_north:
+    parent: "asset.root"
+    child: "part.ceiling_perimeter_trim_north"
+  part.ceiling_perimeter_trim_south:
+    parent: "asset.root"
+    child: "part.ceiling_perimeter_trim_south"
+  part.ceiling_perimeter_trim_east:
+    parent: "asset.root"
+    child: "part.ceiling_perimeter_trim_east"
+  part.ceiling_perimeter_trim_west:
+    parent: "asset.root"
+    child: "part.ceiling_perimeter_trim_west"
+  part.curtain_rail_and_wall_brackets:
+    parent: "asset.root"
+    child: "part.curtain_rail_and_wall_brackets"
+  "part.linen_curtain_panel_-1":
+    parent: "asset.root"
+    child: "part.linen_curtain_panel_-1"
+  "part.curtain_hems_and_rings_-1":
+    parent: "asset.root"
+    child: "part.curtain_hems_and_rings_-1"
+  part.linen_curtain_panel_1:
+    parent: "asset.root"
+    child: "part.linen_curtain_panel_1"
+  part.curtain_hems_and_rings_1:
+    parent: "asset.root"
+    child: "part.curtain_hems_and_rings_1"
+  part.oatmeal_bound_area_rug:
+    parent: "asset.root"
+    child: "part.oatmeal_bound_area_rug"
+  part.tailored_cognac_leather_sofa:
+    parent: "asset.root"
+    child: "part.tailored_cognac_leather_sofa"
+  part.small_oval_oak_coffee_table:
+    parent: "asset.root"
+    child: "part.small_oval_oak_coffee_table"
+  part.vintage_manual_typewriter:
+    parent: "asset.root"
+    child: "part.vintage_manual_typewriter"
+  part.olive_pocket_notebook:
+    parent: "asset.root"
+    child: "part.olive_pocket_notebook"
+  part.wooden_pencil:
+    parent: "asset.root"
+    child: "part.wooden_pencil"
+  part.round_oak_side_table:
+    parent: "asset.root"
+    child: "part.round_oak_side_table"
+  part.stoneware_mug:
+    parent: "asset.root"
+    child: "part.stoneware_mug"
+  part.reading_floor_lamp:
+    parent: "asset.root"
+    child: "part.reading_floor_lamp"
+  part.ceiling_pendant:
+    parent: "asset.root"
+    child: "part.ceiling_pendant"
+  part.oak_frame_abstract_art:
+    parent: "asset.root"
+    child: "part.oak_frame_abstract_art"
+  part.abstract_art_printed_panel:
+    parent: "asset.root"
+    child: "part.abstract_art_printed_panel"
+  part.open_oak_display_console:
+    parent: "asset.root"
+    child: "part.open_oak_display_console"
+  part.architecture_volume:
+    parent: "asset.root"
+    child: "part.architecture_volume"
+  part.design_volume:
+    parent: "asset.root"
+    child: "part.design_volume"
+  part.poetry_volume:
+    parent: "asset.root"
+    child: "part.poetry_volume"
+  part.photography_volume:
+    parent: "asset.root"
+    child: "part.photography_volume"
+  part.large_art_book:
+    parent: "asset.root"
+    child: "part.large_art_book"
+  part.small_essay_book:
+    parent: "asset.root"
+    child: "part.small_essay_book"
+  part.linen_bound_journal:
+    parent: "asset.root"
+    child: "part.linen_bound_journal"
+  part.green_bound_journal:
+    parent: "asset.root"
+    child: "part.green_bound_journal"
+  part.console_fixed_bookends:
+    parent: "asset.root"
+    child: "part.console_fixed_bookends"
+  part.console_wall_safety_brackets:
+    parent: "asset.root"
+    child: "part.console_wall_safety_brackets"
+  part.chalk_stoneware_vase:
+    parent: "asset.root"
+    child: "part.chalk_stoneware_vase"
+  part.terracotta_bud_vase:
+    parent: "asset.root"
+    child: "part.terracotta_bud_vase"
+  part.low_olive_ceramic_bowl:
+    parent: "asset.root"
+    child: "part.low_olive_ceramic_bowl"
+parameters:
+  overall_size_m:
+    extent_x: 6.03
+    extent_y: 3.086
+    extent_z: 5.28
+  axes: "gltf_y_up"
+  bounds_method: "transformed_mesh_bounds"
+materials:
+  Material_0:
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+  Material_1:
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+    metallic: 0.0
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+  Material_3:
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+  Material_4:
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+  Material_5:
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+  Material_6:
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+    metallic: 0.0
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+  Material_7:
+    base_color:
+      rgba: [0.24313725490196078, 0.13333333333333333, 0.06274509803921569, 1.0]
+    metallic: 0.0
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+  Material_8:
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+    metallic: 0.0
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+  Material_9:
+    base_color:
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+    metallic: 0.0
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+  Material_10:
+    base_color:
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+  Material_11:
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+  Material_12:
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+  Material_14:
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+  Material_15:
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+  Material_16:
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+  Material_17:
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+  Material_18:
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+    metallic: 0.0
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+  Material_20:
+    base_color:
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+    metallic: 0.0
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+  Material_21:
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+      rgba: [0.2235294117647059, 0.11764705882352941, 0.054901960784313725, 1.0]
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+  Material_22:
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+    metallic: 0.0
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+  Material_23:
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+      rgba: [0.23529411764705882, 0.12549019607843137, 0.058823529411764705, 1.0]
+    metallic: 0.0
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+  Material_24:
+    base_color:
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+    metallic: 0.0
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+  Material_25:
+    base_color:
+      rgba: [0.2627450980392157, 0.1450980392156863, 0.07058823529411765, 1.0]
+    metallic: 0.0
+    roughness: 0.64
+  Material_26:
+    base_color:
+      rgba: [0.2627450980392157, 0.14901960784313725, 0.07450980392156863, 1.0]
+    metallic: 0.0
+    roughness: 0.64
+  Material_27:
+    base_color:
+      rgba: [0.2549019607843137, 0.1411764705882353, 0.06666666666666667, 1.0]
+    metallic: 0.0
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+  Material_28:
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+    metallic: 0.0
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+  Material_29:
+    base_color:
+      rgba: [0.23921568627450981, 0.13333333333333333, 0.06274509803921569, 1.0]
+    metallic: 0.0
+    roughness: 0.64
+  Material_30:
+    base_color:
+      rgba: [0.23529411764705882, 0.12941176470588237, 0.06274509803921569, 1.0]
+    metallic: 0.0
+    roughness: 0.64
+  Material_31:
+    base_color:
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+    metallic: 0.0
+    roughness: 0.94
+  Material_32:
+    base_color:
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+    metallic: 0.0
+    roughness: 0.98
+  Material_33:
+    base_color:
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+    metallic: 0.0
+    roughness: 0.55
+  Material_34:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_35:
+    base_color:
+      rgba: [0.4196078431372549, 0.6196078431372549, 0.6392156862745098, 0.23137254901960785]
+    metallic: 0.0
+    roughness: 0.13
+    alpha_mode: "BLEND"
+  Material_36:
+    base_color:
+      rgba: [0.6039215686274509, 0.5882352941176471, 0.4627450980392157, 1.0]
+    metallic: 0.0
+    roughness: 0.38
+  Material_37:
+    base_color:
+      rgba: [0.6039215686274509, 0.5529411764705883, 0.39215686274509803, 1.0]
+    metallic: 0.0
+    roughness: 0.98
+  Material_38:
+    base_color:
+      texture: true
+    metallic: 1
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+  Material_39:
+    base_color:
+      texture: true
+    metallic: 1
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+  Material_40:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_41:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_42:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_43:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_44:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_45:
+    base_color:
+      texture: true
+    metallic: 1
+    roughness: 0.9036020036098448
+  Material_46:
+    base_color:
+      rgba: [0.21568627450980393, 0.043137254901960784, 0.01568627450980392, 1.0]
+    metallic: 0.0
+    roughness: 0.9
+  Material_47:
+    base_color:
+      rgba: [0.047058823529411764, 0.06666666666666667, 0.03137254901960784, 1.0]
+    metallic: 0.0
+    roughness: 0.75
+material_bindings:
+  Material_0: ["entry_approach_slab", "structural_floor_slab"]
+  Material_1: ["oak_floor_board_00_00", "oak_floor_board_05_04", "oak_floor_board_10_02", "oak_floor_board_12_04", "oak_floor_board_18_00", "oak_floor_board_20_00", "oak_floor_board_24_02", "oak_floor_board_26_03", "oak_floor_board_27_00", "oak_floor_board_27_03"]
+  Material_2: ["oak_floor_board_00_01", "oak_floor_board_04_00", "oak_floor_board_09_01", "oak_floor_board_19_00", "oak_floor_board_20_01", "oak_floor_board_22_01", "oak_floor_board_25_01", "oak_floor_board_31_01"]
+  Material_3: ["oak_floor_board_00_02", "oak_floor_board_03_01", "oak_floor_board_04_02", "oak_floor_board_06_02", "oak_floor_board_08_01", "oak_floor_board_09_04", "oak_floor_board_10_04", "oak_floor_board_14_02", "oak_floor_board_16_03", "oak_floor_board_16_04", "oak_floor_board_18_04", "oak_floor_board_20_04", "oak_floor_board_27_02", "oak_floor_board_29_03"]
+  Material_4: ["oak_floor_board_00_03", "oak_floor_board_01_00", "oak_floor_board_12_02", "oak_floor_board_23_04", "oak_floor_board_26_00", "oak_floor_board_26_04", "oak_floor_board_29_02", "oak_floor_board_31_04"]
+  Material_5: ["oak_floor_board_00_04", "oak_floor_board_03_04", "oak_floor_board_05_02", "oak_floor_board_06_03", "oak_floor_board_11_02", "oak_floor_board_13_03", "oak_floor_board_13_04", "oak_floor_board_30_00"]
+  Material_6: ["oak_floor_board_01_01", "oak_floor_board_04_01", "oak_floor_board_04_03", "oak_floor_board_07_04", "oak_floor_board_14_00", "oak_floor_board_15_02", "oak_floor_board_17_03", "oak_floor_board_18_01", "oak_floor_board_20_03", "oak_floor_board_23_01", "oak_floor_board_23_02", "oak_floor_board_25_04", "oak_floor_board_29_04"]
+  Material_7: ["oak_floor_board_01_02", "oak_floor_board_02_01", "oak_floor_board_03_02", "oak_floor_board_06_04", "oak_floor_board_07_03", "oak_floor_board_08_00", "oak_floor_board_09_03", "oak_floor_board_12_03", "oak_floor_board_13_01", "oak_floor_board_15_00", "oak_floor_board_18_02", "oak_floor_board_28_00", "oak_floor_board_28_02", "oak_floor_board_30_03"]
+  Material_8: ["oak_floor_board_01_03", "oak_floor_board_14_04", "oak_floor_board_24_04"]
+  Material_9: ["oak_floor_board_01_04", "oak_floor_board_03_00", "oak_floor_board_03_03", "oak_floor_board_08_04", "oak_floor_board_11_01", "oak_floor_board_12_00", "oak_floor_board_15_04", "oak_floor_board_16_02", "oak_floor_board_25_02", "oak_floor_board_26_02", "oak_floor_board_28_01"]
+  Material_10: ["oak_floor_board_02_00", "oak_floor_board_11_04", "oak_floor_board_17_01"]
+  Material_11: ["oak_floor_board_02_02", "oak_floor_board_11_03", "oak_floor_board_17_00", "oak_floor_board_22_04", "oak_floor_board_26_01", "oak_floor_board_30_02"]
+  Material_12: ["oak_floor_board_02_03", "oak_floor_board_06_01", "oak_floor_board_27_04"]
+  Material_13: ["oak_floor_board_02_04", "oak_floor_board_05_00", "oak_floor_board_14_01", "oak_floor_board_21_01", "oak_floor_board_22_00", "oak_floor_board_27_01", "oak_floor_board_28_04"]
+  Material_14: ["oak_floor_board_04_04", "oak_floor_board_08_03"]
+  Material_15: ["oak_floor_board_05_01", "oak_floor_board_13_00", "oak_floor_board_19_03", "oak_floor_board_21_03", "oak_floor_board_25_00", "oak_floor_board_25_03"]
+  Material_16: ["oak_floor_board_05_03", "oak_floor_board_06_00", "oak_floor_board_09_02", "oak_floor_board_10_03", "oak_floor_board_16_01", "oak_floor_board_24_01", "oak_floor_board_29_00"]
+  Material_17: ["oak_floor_board_07_00", "oak_floor_board_19_04", "oak_floor_board_21_04"]
+  Material_18: ["oak_floor_board_07_01", "oak_floor_board_13_02", "oak_floor_board_15_03", "oak_floor_board_22_03", "oak_floor_board_23_00"]
+  Material_19: ["oak_floor_board_07_02", "oak_floor_board_12_01", "oak_floor_board_16_00", "oak_floor_board_17_04", "oak_floor_board_23_03", "oak_floor_board_31_03"]
+  Material_20: ["oak_floor_board_08_02", "oak_floor_board_21_02"]
+  Material_21: ["oak_floor_board_09_00", "oak_floor_board_30_01"]
+  Material_22: ["oak_floor_board_10_00", "oak_floor_board_14_03", "oak_floor_board_19_01", "oak_floor_board_22_02", "oak_floor_board_24_03", "oak_floor_board_29_01"]
+  Material_23: ["oak_floor_board_10_01", "oak_floor_board_11_00", "oak_floor_board_28_03"]
+  Material_24: ["oak_floor_board_15_01"]
+  Material_25: ["oak_floor_board_17_02", "oak_floor_board_18_03", "oak_floor_board_30_04"]
+  Material_26: ["oak_floor_board_19_02", "oak_floor_board_21_00"]
+  Material_27: ["oak_floor_board_20_02"]
+  Material_28: ["oak_floor_board_24_00"]
+  Material_29: ["oak_floor_board_31_00"]
+  Material_30: ["oak_floor_board_31_02"]
+  Material_31: ["east_plastered_wall", "entry_opening_header", "north_plastered_wall", "south_wall_east_pier", "south_wall_west_pier", "west_wall_north_pier", "west_wall_south_pier", "west_window_header_wall", "west_window_sill_wall"]
+  Material_32: ["ceiling_perimeter_trim_east", "ceiling_perimeter_trim_north", "ceiling_perimeter_trim_south", "ceiling_perimeter_trim_west", "ceiling_slab"]
+  Material_33: ["entry_front_architrave_-1", "entry_front_architrave_1", "entry_oak_head_architrave", "entry_oak_head_lining", "entry_oak_jamb_-1", "entry_oak_jamb_1", "entry_threshold", "oak_skirting_east", "oak_skirting_north", "oak_skirting_south_left", "oak_skirting_south_right", "oak_skirting_west"]
+  Material_34: ["curtain_hems_and_rings_-1", "curtain_hems_and_rings_1", "curtain_rail_and_wall_brackets", "entrance_reveal_fixings_and_outer_architrave", "entry_light_switch", "fixed_window_frame_and_sill", "low_panel_radiator", "north_wall_socket_left", "north_wall_socket_right", "tailored_cognac_leather_sofa", "window_rebates_and_glazing_gaskets"]
+  Material_35: ["fixed_glazing_pane_1", "fixed_glazing_pane_2", "fixed_glazing_pane_3"]
+  Material_36: ["chalk_stoneware_vase", "exterior_window_sill_drip_profile", "exterior_window_sill_endcap_-1", "exterior_window_sill_endcap_1"]
+  Material_37: ["linen_curtain_panel_-1", "linen_curtain_panel_1"]
+  Material_38: ["oatmeal_bound_area_rug"]
+  Material_39: ["small_oval_oak_coffee_table", "vintage_manual_typewriter"]
+  Material_40: ["ceiling_pendant", "oak_frame_abstract_art", "olive_pocket_notebook", "open_oak_display_console", "reading_floor_lamp", "round_oak_side_table", "stoneware_mug", "wooden_pencil"]
+  Material_41: ["abstract_art_printed_panel"]
+  Material_42: ["architecture_volume"]
+  Material_43: ["design_volume", "poetry_volume"]
+  Material_44: ["large_art_book", "photography_volume", "small_essay_book"]
+  Material_45: ["console_fixed_bookends", "console_wall_safety_brackets", "green_bound_journal", "linen_bound_journal"]
+  Material_46: ["terracotta_bud_vase"]
+  Material_47: ["low_olive_ceramic_bowl"]
+joints: {}

scenes/scene_056/source/parameters/values.json

@@ -0,0 +1,4 @@
+{
+  "schema_version": "nova.parameter-values/v1alpha1",
+  "values": {}
+}