scene_085/scene_metadata.json

{
  "scene_dir": "scene_085",
  "layout": {
    "wall_height": 2.5,
    "house_prompt": "This cozy kitchen features a rustic wooden dining table positioned against the window, surrounded by four chairs. A sideboard against the wall is equipped with a coffee maker and a small herb planter."
  },
  "rooms": {
    "kitchen": {
      "room_id": "kitchen",
      "text_description": "This cozy kitchen features a rustic wooden dining table positioned against the window, surrounded by four chairs. A sideboard against the wall is equipped with a coffee maker and a small herb planter.",
      "width": 4.0,
      "length": 4.2,
      "wall_height": 2.5,
      "offset": [
        2.1,
        2.0
      ]
    }
  },
  "objects": [
    {
      "object_id": "north_wall",
      "room_id": "kitchen",
      "name": "north_wall",
      "description": "Room north_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          1.975,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.1,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.1,
        0.025,
        2.5
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/north_wall/wall.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/north_wall/wall.gltf"
    },
    {
      "object_id": "south_wall",
      "room_id": "kitchen",
      "name": "south_wall",
      "description": "Room south_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          -1.975,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.1,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.1,
        0.025,
        2.5
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/south_wall/wall.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/south_wall/wall.gltf"
    },
    {
      "object_id": "east_wall",
      "room_id": "kitchen",
      "name": "east_wall",
      "description": "Room east_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          2.075,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.0,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.0,
        2.5
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/east_wall/wall.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/east_wall/wall.gltf"
    },
    {
      "object_id": "west_wall",
      "room_id": "kitchen",
      "name": "west_wall",
      "description": "Room west_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          -2.075,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.0,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.0,
        2.5
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/west_wall/wall.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/west_wall/wall.gltf"
    },
    {
      "object_id": "dining_table_0",
      "room_id": "kitchen",
      "name": "dining_table",
      "description": "Rustic wooden dining table with sturdy farmhouse legs",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.0544349315383411,
          1.1434910269599836,
          -0.00015237562505301074
        ],
        "rotation_wxyz": [
          0.9999886652876048,
          -0.00015324411081798706,
          -5.762821022723019e-06,
          0.004758758172784548
        ]
      },
      "bbox_min": [
        -0.7599999904632568,
        -0.3799999952316284,
        0.0
      ],
      "bbox_max": [
        0.7599999904632568,
        0.3799999952316284,
        0.6840000152587891
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_table_1777544577717/dining_table.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_table_1777544577717/dining_table.sdf",
      "image_path": "generated_assets/furniture/images/dining_table_1777544577717.png",
      "support_surfaces": [
        {
          "surface_id": "S_0",
          "bounding_box_min": [
            -0.7561950087547302,
            -0.3761950135231018,
            0.01
          ],
          "bounding_box_max": [
            0.7561950087547302,
            0.3761950135231018,
            0.5
          ],
          "transform": {
            "translation": [
              -0.054443942444765435,
              1.1437036893152155,
              0.6938476069921843
            ],
            "rotation_wxyz": [
              0.9999886652876048,
              -0.00015324411081798706,
              -5.762821022723019e-06,
              0.004758758172784548
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.7523999810218811,
                -0.3724000155925751,
                -0.010000000000000009
              ],
              [
                -0.7561950087547302,
                -0.3724000155925751,
                -0.010000000000000009
              ],
              [
                -0.7523999810218811,
                -0.3761950135231018,
                -0.010000000000000009
              ],
              [
                -0.7560344338417053,
                -0.3760344088077545,
                -0.010000000000000009
              ],
              [
                -0.7523999810218811,
                0.3724000155925751,
                -0.010000000000000009
              ],
              [
                -0.7523999810218811,
                0.3761950135231018,
                -0.010000000000000009
              ],
              [
                -0.7561950087547302,
                0.3724000155925751,
                -0.010000000000000009
              ],
              [
                -0.7560344338417053,
                0.3760344088077545,
                -0.010000000000000009
              ],
              [
                0.7523999810218811,
                -0.3724000155925751,
                -0.010000000000000009
              ],
              [
                0.7523999810218811,
                -0.3761950135231018,
                -0.010000000000000009
              ],
              [
                0.7561950087547302,
                -0.3724000155925751,
                -0.010000000000000009
              ],
              [
                0.7560344338417053,
                -0.3760344088077545,
                -0.010000000000000009
              ],
              [
                0.7523999810218811,
                0.3724000155925751,
                -0.010000000000000009
              ],
              [
                0.7561950087547302,
                0.3724000155925751,
                -0.010000000000000009
              ],
              [
                0.7523999810218811,
                0.3761950135231018,
                -0.010000000000000009
              ],
              [
                0.7560344338417053,
                0.3760344088077545,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                12,
                8,
                10
              ],
              [
                12,
                10,
                13
              ],
              [
                12,
                4,
                0
              ],
              [
                12,
                0,
                8
              ],
              [
                12,
                15,
                14
              ],
              [
                12,
                13,
                15
              ],
              [
                8,
                9,
                11
              ],
              [
                8,
                11,
                10
              ],
              [
                4,
                12,
                14
              ],
              [
                4,
                14,
                5
              ],
              [
                4,
                7,
                6
              ],
              [
                4,
                5,
                7
              ],
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ],
              [
                0,
                1,
                3
              ],
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_table_1777544577717/dining_table.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_table_1777544577717/dining_table.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 30.0,
            "inertia_pose": [
              -0.0,
              -0.0,
              0.604115,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 2.273745,
              "ixy": 1.155763e-09,
              "ixz": -6.571929e-08,
              "iyy": 7.489525,
              "iyz": 2.1454e-08,
              "izz": 8.749301
            },
            "collision_meshes": [
              "dining_table_collision_0.obj",
              "dining_table_collision_1.obj",
              "dining_table_collision_2.obj",
              "dining_table_collision_3.obj",
              "dining_table_collision_4.obj",
              "dining_table_collision_5.obj",
              "dining_table_collision_6.obj",
              "dining_table_collision_7.obj",
              "dining_table_collision_8.obj",
              "dining_table_collision_9.obj",
              "dining_table_collision_10.obj",
              "dining_table_collision_11.obj",
              "dining_table_collision_12.obj",
              "dining_table_collision_13.obj",
              "dining_table_collision_14.obj",
              "dining_table_collision_15.obj",
              "dining_table_collision_16.obj",
              "dining_table_collision_17.obj",
              "dining_table_collision_18.obj",
              "dining_table_collision_19.obj",
              "dining_table_collision_20.obj",
              "dining_table_collision_21.obj",
              "dining_table_collision_22.obj",
              "dining_table_collision_23.obj",
              "dining_table_collision_24.obj",
              "dining_table_collision_25.obj",
              "dining_table_collision_26.obj",
              "dining_table_collision_27.obj",
              "dining_table_collision_28.obj",
              "dining_table_collision_29.obj",
              "dining_table_collision_30.obj",
              "dining_table_collision_31.obj",
              "dining_table_collision_32.obj",
              "dining_table_collision_33.obj",
              "dining_table_collision_34.obj",
              "dining_table_collision_35.obj",
              "dining_table_collision_36.obj",
              "dining_table_collision_37.obj",
              "dining_table_collision_38.obj",
              "dining_table_collision_39.obj",
              "dining_table_collision_40.obj",
              "dining_table_collision_41.obj",
              "dining_table_collision_42.obj",
              "dining_table_collision_43.obj",
              "dining_table_collision_44.obj",
              "dining_table_collision_45.obj",
              "dining_table_collision_46.obj",
              "dining_table_collision_47.obj",
              "dining_table_collision_48.obj",
              "dining_table_collision_49.obj",
              "dining_table_collision_50.obj",
              "dining_table_collision_51.obj",
              "dining_table_collision_52.obj",
              "dining_table_collision_53.obj",
              "dining_table_collision_54.obj",
              "dining_table_collision_55.obj",
              "dining_table_collision_56.obj",
              "dining_table_collision_57.obj",
              "dining_table_collision_58.obj",
              "dining_table_collision_59.obj",
              "dining_table_collision_60.obj",
              "dining_table_collision_61.obj",
              "dining_table_collision_62.obj",
              "dining_table_collision_63.obj",
              "dining_table_collision_64.obj",
              "dining_table_collision_65.obj",
              "dining_table_collision_66.obj",
              "dining_table_collision_67.obj",
              "dining_table_collision_68.obj",
              "dining_table_collision_69.obj",
              "dining_table_collision_70.obj",
              "dining_table_collision_71.obj",
              "dining_table_collision_72.obj",
              "dining_table_collision_73.obj",
              "dining_table_collision_74.obj",
              "dining_table_collision_75.obj",
              "dining_table_collision_76.obj",
              "dining_table_collision_77.obj",
              "dining_table_collision_78.obj",
              "dining_table_collision_79.obj",
              "dining_table_collision_80.obj",
              "dining_table_collision_81.obj",
              "dining_table_collision_82.obj",
              "dining_table_collision_83.obj",
              "dining_table_collision_84.obj",
              "dining_table_collision_85.obj",
              "dining_table_collision_86.obj",
              "dining_table_collision_87.obj",
              "dining_table_collision_88.obj",
              "dining_table_collision_89.obj",
              "dining_table_collision_90.obj",
              "dining_table_collision_91.obj",
              "dining_table_collision_92.obj",
              "dining_table_collision_93.obj",
              "dining_table_collision_94.obj",
              "dining_table_collision_95.obj",
              "dining_table_collision_96.obj",
              "dining_table_collision_97.obj",
              "dining_table_collision_98.obj",
              "dining_table_collision_99.obj",
              "dining_table_collision_100.obj",
              "dining_table_collision_101.obj",
              "dining_table_collision_102.obj",
              "dining_table_collision_103.obj",
              "dining_table_collision_104.obj",
              "dining_table_collision_105.obj",
              "dining_table_collision_106.obj",
              "dining_table_collision_107.obj",
              "dining_table_collision_108.obj",
              "dining_table_collision_109.obj",
              "dining_table_collision_110.obj",
              "dining_table_collision_111.obj",
              "dining_table_collision_112.obj",
              "dining_table_collision_113.obj",
              "dining_table_collision_114.obj",
              "dining_table_collision_115.obj",
              "dining_table_collision_116.obj",
              "dining_table_collision_117.obj",
              "dining_table_collision_118.obj",
              "dining_table_collision_119.obj",
              "dining_table_collision_120.obj",
              "dining_table_collision_121.obj",
              "dining_table_collision_122.obj",
              "dining_table_collision_123.obj",
              "dining_table_collision_124.obj",
              "dining_table_collision_125.obj",
              "dining_table_collision_126.obj",
              "dining_table_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "dining_table_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_table_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "dining_table.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "dining_table.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "dining_chair_0",
      "room_id": "kitchen",
      "name": "dining_chair",
      "description": "Rustic wooden dining chair with simple slat back",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.029036395478679675,
          0.8587111513886888,
          -0.0015724433904184267
        ],
        "rotation_wxyz": [
          0.9996941405624414,
          0.0024281820686231493,
          -5.9779214382266684e-05,
          -0.024611494944619703
        ]
      },
      "bbox_min": [
        -0.23000000417232513,
        -0.2522038221359253,
        0.0
      ],
      "bbox_max": [
        0.23000000417232513,
        0.20215429365634918,
        1.0227999687194824
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777546411395.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -0.0,
              -0.061044,
              0.479149,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4245304,
              "ixy": -1.436478e-08,
              "ixz": 1.520838e-09,
              "iyy": 0.4330436,
              "iyz": 0.08010418,
              "izz": 0.2752753
            },
            "collision_meshes": [
              "dining_chair_collision_0.obj",
              "dining_chair_collision_1.obj",
              "dining_chair_collision_2.obj",
              "dining_chair_collision_3.obj",
              "dining_chair_collision_4.obj",
              "dining_chair_collision_5.obj",
              "dining_chair_collision_6.obj",
              "dining_chair_collision_7.obj",
              "dining_chair_collision_8.obj",
              "dining_chair_collision_9.obj",
              "dining_chair_collision_10.obj",
              "dining_chair_collision_11.obj",
              "dining_chair_collision_12.obj",
              "dining_chair_collision_13.obj",
              "dining_chair_collision_14.obj",
              "dining_chair_collision_15.obj",
              "dining_chair_collision_16.obj",
              "dining_chair_collision_17.obj",
              "dining_chair_collision_18.obj",
              "dining_chair_collision_19.obj",
              "dining_chair_collision_20.obj",
              "dining_chair_collision_21.obj",
              "dining_chair_collision_22.obj",
              "dining_chair_collision_23.obj",
              "dining_chair_collision_24.obj",
              "dining_chair_collision_25.obj",
              "dining_chair_collision_26.obj",
              "dining_chair_collision_27.obj",
              "dining_chair_collision_28.obj",
              "dining_chair_collision_29.obj",
              "dining_chair_collision_30.obj",
              "dining_chair_collision_31.obj",
              "dining_chair_collision_32.obj",
              "dining_chair_collision_33.obj",
              "dining_chair_collision_34.obj",
              "dining_chair_collision_35.obj",
              "dining_chair_collision_36.obj",
              "dining_chair_collision_37.obj",
              "dining_chair_collision_38.obj",
              "dining_chair_collision_39.obj",
              "dining_chair_collision_40.obj",
              "dining_chair_collision_41.obj",
              "dining_chair_collision_42.obj",
              "dining_chair_collision_43.obj",
              "dining_chair_collision_44.obj",
              "dining_chair_collision_45.obj",
              "dining_chair_collision_46.obj",
              "dining_chair_collision_47.obj",
              "dining_chair_collision_48.obj",
              "dining_chair_collision_49.obj",
              "dining_chair_collision_50.obj",
              "dining_chair_collision_51.obj",
              "dining_chair_collision_52.obj",
              "dining_chair_collision_53.obj",
              "dining_chair_collision_54.obj",
              "dining_chair_collision_55.obj",
              "dining_chair_collision_56.obj",
              "dining_chair_collision_57.obj",
              "dining_chair_collision_58.obj",
              "dining_chair_collision_59.obj",
              "dining_chair_collision_60.obj",
              "dining_chair_collision_61.obj",
              "dining_chair_collision_62.obj",
              "dining_chair_collision_63.obj",
              "dining_chair_collision_64.obj",
              "dining_chair_collision_65.obj",
              "dining_chair_collision_66.obj",
              "dining_chair_collision_67.obj",
              "dining_chair_collision_68.obj",
              "dining_chair_collision_69.obj",
              "dining_chair_collision_70.obj",
              "dining_chair_collision_71.obj",
              "dining_chair_collision_72.obj",
              "dining_chair_collision_73.obj",
              "dining_chair_collision_74.obj",
              "dining_chair_collision_75.obj",
              "dining_chair_collision_76.obj",
              "dining_chair_collision_77.obj",
              "dining_chair_collision_78.obj",
              "dining_chair_collision_79.obj",
              "dining_chair_collision_80.obj",
              "dining_chair_collision_81.obj",
              "dining_chair_collision_82.obj",
              "dining_chair_collision_83.obj",
              "dining_chair_collision_84.obj",
              "dining_chair_collision_85.obj",
              "dining_chair_collision_86.obj",
              "dining_chair_collision_87.obj",
              "dining_chair_collision_88.obj",
              "dining_chair_collision_89.obj",
              "dining_chair_collision_90.obj",
              "dining_chair_collision_91.obj",
              "dining_chair_collision_92.obj",
              "dining_chair_collision_93.obj",
              "dining_chair_collision_94.obj",
              "dining_chair_collision_95.obj",
              "dining_chair_collision_96.obj",
              "dining_chair_collision_97.obj",
              "dining_chair_collision_98.obj",
              "dining_chair_collision_99.obj",
              "dining_chair_collision_100.obj",
              "dining_chair_collision_101.obj",
              "dining_chair_collision_102.obj",
              "dining_chair_collision_103.obj",
              "dining_chair_collision_104.obj",
              "dining_chair_collision_105.obj",
              "dining_chair_collision_106.obj",
              "dining_chair_collision_107.obj",
              "dining_chair_collision_108.obj",
              "dining_chair_collision_109.obj",
              "dining_chair_collision_110.obj",
              "dining_chair_collision_111.obj",
              "dining_chair_collision_112.obj",
              "dining_chair_collision_113.obj",
              "dining_chair_collision_114.obj",
              "dining_chair_collision_115.obj",
              "dining_chair_collision_116.obj",
              "dining_chair_collision_117.obj",
              "dining_chair_collision_118.obj",
              "dining_chair_collision_119.obj",
              "dining_chair_collision_120.obj",
              "dining_chair_collision_121.obj",
              "dining_chair_collision_122.obj",
              "dining_chair_collision_123.obj",
              "dining_chair_collision_124.obj",
              "dining_chair_collision_125.obj",
              "dining_chair_collision_126.obj",
              "dining_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "dining_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "dining_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "dining_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "dining_chair_1",
      "room_id": "kitchen",
      "name": "dining_chair",
      "description": "Rustic wooden dining chair with simple slat back",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -1.0314245911550821,
          1.1126223577320644,
          -0.0015724433904184267
        ],
        "rotation_wxyz": [
          0.7181170776845327,
          0.0017442526838845427,
          -0.0016903325967444166,
          -0.6959180721148963
        ]
      },
      "bbox_min": [
        -0.23000000417232513,
        -0.2522038221359253,
        0.0
      ],
      "bbox_max": [
        0.23000000417232513,
        0.20215429365634918,
        1.0227999687194824
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777546411395.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -0.0,
              -0.061044,
              0.479149,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4245304,
              "ixy": -1.436478e-08,
              "ixz": 1.520838e-09,
              "iyy": 0.4330436,
              "iyz": 0.08010418,
              "izz": 0.2752753
            },
            "collision_meshes": [
              "dining_chair_collision_0.obj",
              "dining_chair_collision_1.obj",
              "dining_chair_collision_2.obj",
              "dining_chair_collision_3.obj",
              "dining_chair_collision_4.obj",
              "dining_chair_collision_5.obj",
              "dining_chair_collision_6.obj",
              "dining_chair_collision_7.obj",
              "dining_chair_collision_8.obj",
              "dining_chair_collision_9.obj",
              "dining_chair_collision_10.obj",
              "dining_chair_collision_11.obj",
              "dining_chair_collision_12.obj",
              "dining_chair_collision_13.obj",
              "dining_chair_collision_14.obj",
              "dining_chair_collision_15.obj",
              "dining_chair_collision_16.obj",
              "dining_chair_collision_17.obj",
              "dining_chair_collision_18.obj",
              "dining_chair_collision_19.obj",
              "dining_chair_collision_20.obj",
              "dining_chair_collision_21.obj",
              "dining_chair_collision_22.obj",
              "dining_chair_collision_23.obj",
              "dining_chair_collision_24.obj",
              "dining_chair_collision_25.obj",
              "dining_chair_collision_26.obj",
              "dining_chair_collision_27.obj",
              "dining_chair_collision_28.obj",
              "dining_chair_collision_29.obj",
              "dining_chair_collision_30.obj",
              "dining_chair_collision_31.obj",
              "dining_chair_collision_32.obj",
              "dining_chair_collision_33.obj",
              "dining_chair_collision_34.obj",
              "dining_chair_collision_35.obj",
              "dining_chair_collision_36.obj",
              "dining_chair_collision_37.obj",
              "dining_chair_collision_38.obj",
              "dining_chair_collision_39.obj",
              "dining_chair_collision_40.obj",
              "dining_chair_collision_41.obj",
              "dining_chair_collision_42.obj",
              "dining_chair_collision_43.obj",
              "dining_chair_collision_44.obj",
              "dining_chair_collision_45.obj",
              "dining_chair_collision_46.obj",
              "dining_chair_collision_47.obj",
              "dining_chair_collision_48.obj",
              "dining_chair_collision_49.obj",
              "dining_chair_collision_50.obj",
              "dining_chair_collision_51.obj",
              "dining_chair_collision_52.obj",
              "dining_chair_collision_53.obj",
              "dining_chair_collision_54.obj",
              "dining_chair_collision_55.obj",
              "dining_chair_collision_56.obj",
              "dining_chair_collision_57.obj",
              "dining_chair_collision_58.obj",
              "dining_chair_collision_59.obj",
              "dining_chair_collision_60.obj",
              "dining_chair_collision_61.obj",
              "dining_chair_collision_62.obj",
              "dining_chair_collision_63.obj",
              "dining_chair_collision_64.obj",
              "dining_chair_collision_65.obj",
              "dining_chair_collision_66.obj",
              "dining_chair_collision_67.obj",
              "dining_chair_collision_68.obj",
              "dining_chair_collision_69.obj",
              "dining_chair_collision_70.obj",
              "dining_chair_collision_71.obj",
              "dining_chair_collision_72.obj",
              "dining_chair_collision_73.obj",
              "dining_chair_collision_74.obj",
              "dining_chair_collision_75.obj",
              "dining_chair_collision_76.obj",
              "dining_chair_collision_77.obj",
              "dining_chair_collision_78.obj",
              "dining_chair_collision_79.obj",
              "dining_chair_collision_80.obj",
              "dining_chair_collision_81.obj",
              "dining_chair_collision_82.obj",
              "dining_chair_collision_83.obj",
              "dining_chair_collision_84.obj",
              "dining_chair_collision_85.obj",
              "dining_chair_collision_86.obj",
              "dining_chair_collision_87.obj",
              "dining_chair_collision_88.obj",
              "dining_chair_collision_89.obj",
              "dining_chair_collision_90.obj",
              "dining_chair_collision_91.obj",
              "dining_chair_collision_92.obj",
              "dining_chair_collision_93.obj",
              "dining_chair_collision_94.obj",
              "dining_chair_collision_95.obj",
              "dining_chair_collision_96.obj",
              "dining_chair_collision_97.obj",
              "dining_chair_collision_98.obj",
              "dining_chair_collision_99.obj",
              "dining_chair_collision_100.obj",
              "dining_chair_collision_101.obj",
              "dining_chair_collision_102.obj",
              "dining_chair_collision_103.obj",
              "dining_chair_collision_104.obj",
              "dining_chair_collision_105.obj",
              "dining_chair_collision_106.obj",
              "dining_chair_collision_107.obj",
              "dining_chair_collision_108.obj",
              "dining_chair_collision_109.obj",
              "dining_chair_collision_110.obj",
              "dining_chair_collision_111.obj",
              "dining_chair_collision_112.obj",
              "dining_chair_collision_113.obj",
              "dining_chair_collision_114.obj",
              "dining_chair_collision_115.obj",
              "dining_chair_collision_116.obj",
              "dining_chair_collision_117.obj",
              "dining_chair_collision_118.obj",
              "dining_chair_collision_119.obj",
              "dining_chair_collision_120.obj",
              "dining_chair_collision_121.obj",
              "dining_chair_collision_122.obj",
              "dining_chair_collision_123.obj",
              "dining_chair_collision_124.obj",
              "dining_chair_collision_125.obj",
              "dining_chair_collision_126.obj",
              "dining_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "dining_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "dining_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "dining_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "dining_chair_2",
      "room_id": "kitchen",
      "name": "dining_chair",
      "description": "Rustic wooden dining chair with simple slat back",
      "object_type": "furniture",
      "transform": {
        "translation": [
          1.030525173734939,
          1.2384678240144047,
          -0.0015724433904184267
        ],
        "rotation_wxyz": [
          0.7034579559807587,
          0.001708646410873601,
          0.001726316644032582,
          0.7107327236913045
        ]
      },
      "bbox_min": [
        -0.23000000417232513,
        -0.2522038221359253,
        0.0
      ],
      "bbox_max": [
        0.23000000417232513,
        0.20215429365634918,
        1.0227999687194824
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777546411395.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -0.0,
              -0.061044,
              0.479149,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4245304,
              "ixy": -1.436478e-08,
              "ixz": 1.520838e-09,
              "iyy": 0.4330436,
              "iyz": 0.08010418,
              "izz": 0.2752753
            },
            "collision_meshes": [
              "dining_chair_collision_0.obj",
              "dining_chair_collision_1.obj",
              "dining_chair_collision_2.obj",
              "dining_chair_collision_3.obj",
              "dining_chair_collision_4.obj",
              "dining_chair_collision_5.obj",
              "dining_chair_collision_6.obj",
              "dining_chair_collision_7.obj",
              "dining_chair_collision_8.obj",
              "dining_chair_collision_9.obj",
              "dining_chair_collision_10.obj",
              "dining_chair_collision_11.obj",
              "dining_chair_collision_12.obj",
              "dining_chair_collision_13.obj",
              "dining_chair_collision_14.obj",
              "dining_chair_collision_15.obj",
              "dining_chair_collision_16.obj",
              "dining_chair_collision_17.obj",
              "dining_chair_collision_18.obj",
              "dining_chair_collision_19.obj",
              "dining_chair_collision_20.obj",
              "dining_chair_collision_21.obj",
              "dining_chair_collision_22.obj",
              "dining_chair_collision_23.obj",
              "dining_chair_collision_24.obj",
              "dining_chair_collision_25.obj",
              "dining_chair_collision_26.obj",
              "dining_chair_collision_27.obj",
              "dining_chair_collision_28.obj",
              "dining_chair_collision_29.obj",
              "dining_chair_collision_30.obj",
              "dining_chair_collision_31.obj",
              "dining_chair_collision_32.obj",
              "dining_chair_collision_33.obj",
              "dining_chair_collision_34.obj",
              "dining_chair_collision_35.obj",
              "dining_chair_collision_36.obj",
              "dining_chair_collision_37.obj",
              "dining_chair_collision_38.obj",
              "dining_chair_collision_39.obj",
              "dining_chair_collision_40.obj",
              "dining_chair_collision_41.obj",
              "dining_chair_collision_42.obj",
              "dining_chair_collision_43.obj",
              "dining_chair_collision_44.obj",
              "dining_chair_collision_45.obj",
              "dining_chair_collision_46.obj",
              "dining_chair_collision_47.obj",
              "dining_chair_collision_48.obj",
              "dining_chair_collision_49.obj",
              "dining_chair_collision_50.obj",
              "dining_chair_collision_51.obj",
              "dining_chair_collision_52.obj",
              "dining_chair_collision_53.obj",
              "dining_chair_collision_54.obj",
              "dining_chair_collision_55.obj",
              "dining_chair_collision_56.obj",
              "dining_chair_collision_57.obj",
              "dining_chair_collision_58.obj",
              "dining_chair_collision_59.obj",
              "dining_chair_collision_60.obj",
              "dining_chair_collision_61.obj",
              "dining_chair_collision_62.obj",
              "dining_chair_collision_63.obj",
              "dining_chair_collision_64.obj",
              "dining_chair_collision_65.obj",
              "dining_chair_collision_66.obj",
              "dining_chair_collision_67.obj",
              "dining_chair_collision_68.obj",
              "dining_chair_collision_69.obj",
              "dining_chair_collision_70.obj",
              "dining_chair_collision_71.obj",
              "dining_chair_collision_72.obj",
              "dining_chair_collision_73.obj",
              "dining_chair_collision_74.obj",
              "dining_chair_collision_75.obj",
              "dining_chair_collision_76.obj",
              "dining_chair_collision_77.obj",
              "dining_chair_collision_78.obj",
              "dining_chair_collision_79.obj",
              "dining_chair_collision_80.obj",
              "dining_chair_collision_81.obj",
              "dining_chair_collision_82.obj",
              "dining_chair_collision_83.obj",
              "dining_chair_collision_84.obj",
              "dining_chair_collision_85.obj",
              "dining_chair_collision_86.obj",
              "dining_chair_collision_87.obj",
              "dining_chair_collision_88.obj",
              "dining_chair_collision_89.obj",
              "dining_chair_collision_90.obj",
              "dining_chair_collision_91.obj",
              "dining_chair_collision_92.obj",
              "dining_chair_collision_93.obj",
              "dining_chair_collision_94.obj",
              "dining_chair_collision_95.obj",
              "dining_chair_collision_96.obj",
              "dining_chair_collision_97.obj",
              "dining_chair_collision_98.obj",
              "dining_chair_collision_99.obj",
              "dining_chair_collision_100.obj",
              "dining_chair_collision_101.obj",
              "dining_chair_collision_102.obj",
              "dining_chair_collision_103.obj",
              "dining_chair_collision_104.obj",
              "dining_chair_collision_105.obj",
              "dining_chair_collision_106.obj",
              "dining_chair_collision_107.obj",
              "dining_chair_collision_108.obj",
              "dining_chair_collision_109.obj",
              "dining_chair_collision_110.obj",
              "dining_chair_collision_111.obj",
              "dining_chair_collision_112.obj",
              "dining_chair_collision_113.obj",
              "dining_chair_collision_114.obj",
              "dining_chair_collision_115.obj",
              "dining_chair_collision_116.obj",
              "dining_chair_collision_117.obj",
              "dining_chair_collision_118.obj",
              "dining_chair_collision_119.obj",
              "dining_chair_collision_120.obj",
              "dining_chair_collision_121.obj",
              "dining_chair_collision_122.obj",
              "dining_chair_collision_123.obj",
              "dining_chair_collision_124.obj",
              "dining_chair_collision_125.obj",
              "dining_chair_collision_126.obj",
              "dining_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "dining_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "dining_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "dining_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "sideboard_0",
      "room_id": "kitchen",
      "name": "sideboard",
      "description": "Compact rustic wooden sideboard with drawers and cabinet doors in warm oak finish",
      "object_type": "furniture",
      "transform": {
        "translation": [
          1.437126394038973,
          -1.1025369742370927,
          -0.0003242399768568953
        ],
        "rotation_wxyz": [
          0.7071234105504669,
          8.196706897631063e-08,
          -4.750371406020857e-08,
          0.707090151431532
        ]
      },
      "bbox_min": [
        -0.5859374990187418,
        -0.22499992474486197,
        -1.557144244269865e-08
      ],
      "bbox_max": [
        0.5859374990187418,
        0.22500006444324794,
        0.9374999984299869
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": true,
      "geometry_path": "generated_assets/furniture/geometry/sideboard_1777550847/sideboard_combined.gltf",
      "sdf_path": "generated_assets/furniture/sdf/sideboard_1777550847/sideboard_1777548926095.sdf",
      "image_path": "generated_assets/furniture/images/sideboard_1777548926095.png",
      "support_surfaces": [
        {
          "surface_id": "S_1",
          "bounding_box_min": [
            -0.622497022151947,
            -0.2374970018863678,
            0.01
          ],
          "bounding_box_max": [
            0.622497022151947,
            0.2374970018863678,
            0.5
          ],
          "transform": {
            "translation": [
              1.437126368754747,
              -1.1025371591650768,
              1.0096757600231285
            ],
            "rotation_wxyz": [
              0.7071234105504669,
              8.196706897631063e-08,
              -4.750371406020857e-08,
              0.707090151431532
            ]
          },
          "link_name": "tabletop",
          "mesh": {
            "vertices": [
              [
                -0.6200000047683716,
                -0.23499999940395355,
                -0.010000000000000009
              ],
              [
                -0.622497022151947,
                -0.23499999940395355,
                -0.010000000000000009
              ],
              [
                -0.6200000047683716,
                -0.2374970018863678,
                -0.010000000000000009
              ],
              [
                -0.6223909854888916,
                -0.23739099502563477,
                -0.010000000000000009
              ],
              [
                -0.6200000047683716,
                0.23499999940395355,
                -0.010000000000000009
              ],
              [
                -0.6200000047683716,
                0.2374970018863678,
                -0.010000000000000009
              ],
              [
                -0.622497022151947,
                0.23499999940395355,
                -0.010000000000000009
              ],
              [
                -0.6223909854888916,
                0.23739099502563477,
                -0.010000000000000009
              ],
              [
                0.6200000047683716,
                -0.23499999940395355,
                -0.010000000000000009
              ],
              [
                0.6200000047683716,
                -0.2374970018863678,
                -0.010000000000000009
              ],
              [
                0.622497022151947,
                -0.23499999940395355,
                -0.010000000000000009
              ],
              [
                0.6223909854888916,
                -0.23739099502563477,
                -0.010000000000000009
              ],
              [
                0.6200000047683716,
                0.23499999940395355,
                -0.010000000000000009
              ],
              [
                0.622497022151947,
                0.23499999940395355,
                -0.010000000000000009
              ],
              [
                0.6200000047683716,
                0.2374970018863678,
                -0.010000000000000009
              ],
              [
                0.6223909854888916,
                0.23739099502563477,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                12,
                8,
                10
              ],
              [
                12,
                10,
                13
              ],
              [
                12,
                4,
                0
              ],
              [
                12,
                0,
                8
              ],
              [
                12,
                15,
                14
              ],
              [
                12,
                13,
                15
              ],
              [
                8,
                9,
                11
              ],
              [
                8,
                11,
                10
              ],
              [
                4,
                12,
                14
              ],
              [
                4,
                14,
                5
              ],
              [
                4,
                7,
                6
              ],
              [
                4,
                5,
                7
              ],
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ],
              [
                0,
                1,
                3
              ],
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ]
            ]
          }
        },
        {
          "surface_id": "S_2",
          "bounding_box_min": [
            -0.5379999876022339,
            -0.17800000309944217,
            0.01
          ],
          "bounding_box_max": [
            0.5379999876022339,
            0.17800000309944217,
            0.5699999928474426
          ],
          "transform": {
            "translation": [
              1.437126387909975,
              -1.1025370071944802,
              0.17967576672866314
            ],
            "rotation_wxyz": [
              0.7071234105504698,
              5.236886745642292e-08,
              -7.710052344671476e-08,
              0.7070901514315294
            ]
          },
          "link_name": "cabinet_body",
          "mesh": {
            "vertices": [
              [
                -0.5379999876022339,
                -0.1780000022622979,
                -0.010000004917383176
              ],
              [
                -0.5379999876022339,
                0.17800000393658394,
                -0.009999975115060789
              ],
              [
                0.5379999876022339,
                -0.1780000022622979,
                -0.010000004917383176
              ],
              [
                0.5379999876022339,
                0.17800000393658394,
                -0.009999975115060789
              ]
            ],
            "faces": [
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ]
            ]
          }
        },
        {
          "surface_id": "S_3",
          "bounding_box_min": [
            -0.5379999876022339,
            -0.17800000309944153,
            0.01
          ],
          "bounding_box_max": [
            0.5379999876022339,
            0.17800000309944153,
            0.19999998190391122
          ],
          "transform": {
            "translation": [
              1.4371263719596907,
              -1.1025371152216596,
              0.769675750486389
            ],
            "rotation_wxyz": [
              0.7071234105504669,
              8.196706897631063e-08,
              -4.750371406020857e-08,
              0.707090151431532
            ]
          },
          "link_name": "cabinet_body",
          "mesh": {
            "vertices": [
              [
                -0.5379999876022339,
                -0.17800000309944153,
                -0.010000000000000009
              ],
              [
                -0.5379999876022339,
                0.17800000309944153,
                -0.010000000000000009
              ],
              [
                0.5379999876022339,
                -0.17800000309944153,
                -0.010000000000000009
              ],
              [
                0.5379999876022339,
                0.17800000309944153,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ]
            ]
          }
        },
        {
          "surface_id": "S_4",
          "bounding_box_min": [
            -0.5379999876022339,
            -0.1679999977350235,
            0.01
          ],
          "bounding_box_max": [
            0.5379999876022339,
            0.1679999977350235,
            0.2800000011920929
          ],
          "transform": {
            "translation": [
              1.4371263871417428,
              -1.1025370602929196,
              0.4696757683677864
            ],
            "rotation_wxyz": [
              0.7071234105504669,
              8.196706897631063e-08,
              -4.750371406020857e-08,
              0.707090151431532
            ]
          },
          "link_name": "cabinet_body",
          "mesh": {
            "vertices": [
              [
                -0.5379999876022339,
                -0.1679999977350235,
                -0.010000000000000009
              ],
              [
                -0.5379999876022339,
                0.1679999977350235,
                -0.010000000000000009
              ],
              [
                0.5379999876022339,
                -0.1679999977350235,
                -0.010000000000000009
              ],
              [
                0.5379999876022339,
                0.1679999977350235,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/geometry/sideboard_1777550847/sideboard_combined.gltf",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/sideboard_1777550847/sideboard_1777548926095.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.0,
            "inertia_pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 1e-10,
              "ixy": 0.0,
              "ixz": 0.0,
              "iyy": 1e-10,
              "iyz": 0.0,
              "izz": 1e-10
            }
          },
          "tabletop": {
            "mass": 11.0,
            "inertia_pose": [
              -0.0,
              0.0,
              0.91875,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.1864213,
              "ixy": -4.557857e-18,
              "ixz": -1.910653e-17,
              "iyy": 1.258799,
              "iyz": 4.926265e-09,
              "izz": 1.44265
            },
            "collision_meshes": [
              "collision/tabletop_collision_0.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/tabletop_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/tabletop_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/tabletop_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "legs": {
            "mass": 14.0,
            "inertia_pose": [
              0.0,
              0.0,
              0.45,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 1.350234,
              "ixy": -2.316106e-16,
              "ixz": -2.316106e-16,
              "iyy": 4.539609,
              "iyz": -1.446296e-08,
              "izz": 3.999844
            },
            "collision_meshes": [
              "collision/legs_collision_0.obj",
              "collision/legs_collision_1.obj",
              "collision/legs_collision_2.obj",
              "collision/legs_collision_3.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/legs_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/legs_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/legs_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/legs_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/legs_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/legs_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "cabinet_body": {
            "mass": 26.0,
            "inertia_pose": [
              -0.0,
              0.050908,
              0.494539,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 1.724721,
              "ixy": 9.014424e-17,
              "ixz": -8.172085e-15,
              "iyy": 4.457035,
              "iyz": -0.03411312,
              "izz": 3.34828
            },
            "collision_meshes": [
              "collision/cabinet_body_collision_0.obj",
              "collision/cabinet_body_collision_1.obj",
              "collision/cabinet_body_collision_2.obj",
              "collision/cabinet_body_collision_3.obj",
              "collision/cabinet_body_collision_4.obj",
              "collision/cabinet_body_collision_5.obj",
              "collision/cabinet_body_collision_6.obj",
              "collision/cabinet_body_collision_7.obj",
              "collision/cabinet_body_collision_8.obj",
              "collision/cabinet_body_collision_9.obj",
              "collision/cabinet_body_collision_10.obj",
              "collision/cabinet_body_collision_11.obj",
              "collision/cabinet_body_collision_12.obj",
              "collision/cabinet_body_collision_13.obj",
              "collision/cabinet_body_collision_14.obj",
              "collision/cabinet_body_collision_15.obj",
              "collision/cabinet_body_collision_16.obj",
              "collision/cabinet_body_collision_17.obj",
              "collision/cabinet_body_collision_18.obj",
              "collision/cabinet_body_collision_19.obj",
              "collision/cabinet_body_collision_20.obj",
              "collision/cabinet_body_collision_21.obj",
              "collision/cabinet_body_collision_22.obj",
              "collision/cabinet_body_collision_23.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/cabinet_body_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_4.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_5.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_6.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_7.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_8.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_9.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_10.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_11.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_12.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_13.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_14.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_15.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_16.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_17.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_18.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_19.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_20.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_21.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_22.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/cabinet_body_collision_23.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/cabinet_body_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/cabinet_body_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "bottom_crossbar": {
            "mass": 2.0,
            "inertia_pose": [
              0.0,
              -0.159375,
              0.1125,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0005859375,
              "ixy": -4.901811e-18,
              "ixz": 4.901811e-18,
              "iyy": 0.1713867,
              "iyz": -1.256011e-11,
              "izz": 0.170918
            },
            "collision_meshes": [
              "collision/bottom_crossbar_collision_0.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/bottom_crossbar_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/bottom_crossbar_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/bottom_crossbar_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "drawer_left": {
            "mass": 2.0,
            "inertia_pose": [
              -0.0,
              -0.010817,
              -0.014609,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03162881,
              "ixy": -8.192006e-16,
              "ixz": 2.20052e-18,
              "iyy": 0.02782423,
              "iyz": 0.00058999,
              "izz": 0.05194484
            },
            "collision_meshes": [
              "collision/drawer_left_collision_0.obj",
              "collision/drawer_left_collision_1.obj",
              "collision/drawer_left_collision_2.obj",
              "collision/drawer_left_collision_3.obj",
              "collision/drawer_left_collision_4.obj",
              "collision/drawer_left_collision_5.obj",
              "collision/drawer_left_collision_6.obj",
              "collision/drawer_left_collision_7.obj",
              "collision/drawer_left_collision_8.obj",
              "collision/drawer_left_collision_9.obj",
              "collision/drawer_left_collision_10.obj",
              "collision/drawer_left_collision_11.obj",
              "collision/drawer_left_collision_12.obj",
              "collision/drawer_left_collision_13.obj",
              "collision/drawer_left_collision_14.obj",
              "collision/drawer_left_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/drawer_left_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_4.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_5.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_6.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_7.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_8.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_9.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_10.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_11.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_12.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_13.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_14.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_left_collision_15.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/drawer_left_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/drawer_left_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "drawer_center": {
            "mass": 2.0,
            "inertia_pose": [
              0.0,
              -0.010817,
              -0.014609,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03162881,
              "ixy": -8.339579e-16,
              "ixz": -5.13425e-19,
              "iyy": 0.02782423,
              "iyz": 0.00058999,
              "izz": 0.05194484
            },
            "collision_meshes": [
              "collision/drawer_center_collision_0.obj",
              "collision/drawer_center_collision_1.obj",
              "collision/drawer_center_collision_2.obj",
              "collision/drawer_center_collision_3.obj",
              "collision/drawer_center_collision_4.obj",
              "collision/drawer_center_collision_5.obj",
              "collision/drawer_center_collision_6.obj",
              "collision/drawer_center_collision_7.obj",
              "collision/drawer_center_collision_8.obj",
              "collision/drawer_center_collision_9.obj",
              "collision/drawer_center_collision_10.obj",
              "collision/drawer_center_collision_11.obj",
              "collision/drawer_center_collision_12.obj",
              "collision/drawer_center_collision_13.obj",
              "collision/drawer_center_collision_14.obj",
              "collision/drawer_center_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/drawer_center_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_4.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_5.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_6.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_7.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_8.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_9.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_10.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_11.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_12.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_13.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_14.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_center_collision_15.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/drawer_center_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/drawer_center_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "drawer_right": {
            "mass": 2.0,
            "inertia_pose": [
              0.0,
              -0.010817,
              -0.014609,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03162881,
              "ixy": -8.455302e-16,
              "ixz": -4.15478e-18,
              "iyy": 0.02782423,
              "iyz": 0.00058999,
              "izz": 0.05194484
            },
            "collision_meshes": [
              "collision/drawer_right_collision_0.obj",
              "collision/drawer_right_collision_1.obj",
              "collision/drawer_right_collision_2.obj",
              "collision/drawer_right_collision_3.obj",
              "collision/drawer_right_collision_4.obj",
              "collision/drawer_right_collision_5.obj",
              "collision/drawer_right_collision_6.obj",
              "collision/drawer_right_collision_7.obj",
              "collision/drawer_right_collision_8.obj",
              "collision/drawer_right_collision_9.obj",
              "collision/drawer_right_collision_10.obj",
              "collision/drawer_right_collision_11.obj",
              "collision/drawer_right_collision_12.obj",
              "collision/drawer_right_collision_13.obj",
              "collision/drawer_right_collision_14.obj",
              "collision/drawer_right_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/drawer_right_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_4.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_5.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_6.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_7.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_8.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_9.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_10.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_11.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_12.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_13.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_14.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/drawer_right_collision_15.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/drawer_right_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/drawer_right_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "door_left": {
            "mass": 3.0,
            "inertia_pose": [
              0.451624,
              -0.000172,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.08597913,
              "ixy": 0.0001055705,
              "ixz": -2.828731e-12,
              "iyy": 0.1568265,
              "iyz": -2.299602e-09,
              "izz": 0.07100403
            },
            "collision_meshes": [
              "collision/door_left_collision_0.obj",
              "collision/door_left_collision_1.obj",
              "collision/door_left_collision_2.obj",
              "collision/door_left_collision_3.obj",
              "collision/door_left_collision_4.obj",
              "collision/door_left_collision_5.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/door_left_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_left_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_left_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_left_collision_3.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_left_collision_4.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_left_collision_5.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/door_left_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/door_left_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          },
          "door_right": {
            "mass": 3.0,
            "inertia_pose": [
              -0.24431,
              0.000969,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0791773,
              "ixy": -2.979603e-05,
              "ixz": 7.983726e-13,
              "iyy": 0.1435945,
              "iyz": -2.117357e-09,
              "izz": 0.06457354
            },
            "collision_meshes": [
              "collision/door_right_collision_0.obj",
              "collision/door_right_collision_1.obj",
              "collision/door_right_collision_2.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "collision/door_right_collision_0.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_right_collision_1.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              },
              {
                "uri": "collision/door_right_collision_2.obj",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ],
            "friction": {
              "mu": 0.5,
              "mu2": 0.5
            },
            "visual_meshes": [
              "visual/door_right_visual.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "visual/door_right_visual.gltf",
                "scale": [
                  0.9374999984299869,
                  0.9374999984299869,
                  0.9374999984299869
                ]
              }
            ]
          }
        },
        "joints": {
          "tabletop_joint": {
            "type": "fixed",
            "parent_link": "base_link",
            "child_link": "tabletop",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ]
          },
          "legs_joint": {
            "type": "fixed",
            "parent_link": "base_link",
            "child_link": "legs",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ]
          },
          "cabinet_body_joint": {
            "type": "fixed",
            "parent_link": "base_link",
            "child_link": "cabinet_body",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ]
          },
          "bottom_crossbar_joint": {
            "type": "fixed",
            "parent_link": "base_link",
            "child_link": "bottom_crossbar",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ]
          },
          "drawer_left_joint": {
            "type": "prismatic",
            "parent_link": "base_link",
            "child_link": "drawer_left",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "axis": [
              0.0,
              -1.0,
              0.0
            ],
            "limits": {
              "lower": 0.0,
              "upper": 0.34,
              "effort": 100.0,
              "velocity": 1.0
            },
            "dynamics": {
              "friction": 0.05,
              "damping": 0.05
            }
          },
          "drawer_center_joint": {
            "type": "prismatic",
            "parent_link": "base_link",
            "child_link": "drawer_center",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "axis": [
              0.0,
              -1.0,
              0.0
            ],
            "limits": {
              "lower": 0.0,
              "upper": 0.34,
              "effort": 100.0,
              "velocity": 1.0
            },
            "dynamics": {
              "friction": 0.05,
              "damping": 0.05
            }
          },
          "drawer_right_joint": {
            "type": "prismatic",
            "parent_link": "base_link",
            "child_link": "drawer_right",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "axis": [
              0.0,
              -1.0,
              0.0
            ],
            "limits": {
              "lower": 0.0,
              "upper": 0.34,
              "effort": 100.0,
              "velocity": 1.0
            },
            "dynamics": {
              "friction": 0.05,
              "damping": 0.05
            }
          },
          "door_left_joint": {
            "type": "revolute",
            "parent_link": "base_link",
            "child_link": "door_left",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "axis": [
              0.0,
              0.0,
              1.0
            ],
            "limits": {
              "lower": -1.57,
              "upper": 0.0,
              "effort": 100.0,
              "velocity": 1.0
            },
            "dynamics": {
              "friction": 0.05,
              "damping": 0.05
            }
          },
          "door_right_joint": {
            "type": "revolute",
            "parent_link": "base_link",
            "child_link": "door_right",
            "pose": [
              0.0,
              0.0,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "axis": [
              0.0,
              0.0,
              1.0
            ],
            "limits": {
              "lower": 0.0,
              "upper": 1.57,
              "effort": 100.0,
              "velocity": 1.0
            },
            "dynamics": {
              "friction": 0.05,
              "damping": 0.05
            }
          }
        }
      }
    },
    {
      "object_id": "dining_chair_3",
      "room_id": "kitchen",
      "name": "dining_chair",
      "description": "Rustic wooden dining chair with simple slat back",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.6443788835852715,
          0.5948146909582765,
          -0.0015724433904184267
        ],
        "rotation_wxyz": [
          0.9998152214465925,
          0.0024284761536335292,
          4.631721157906533e-05,
          0.01906890982695783
        ]
      },
      "bbox_min": [
        -0.23000000417232513,
        -0.2522038221359253,
        0.0
      ],
      "bbox_max": [
        0.23000000417232513,
        0.20215429365634918,
        1.0227999687194824
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777546411395.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/furniture/sdf/dining_chair_1777546411395/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -0.0,
              -0.061044,
              0.479149,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4245304,
              "ixy": -1.436478e-08,
              "ixz": 1.520838e-09,
              "iyy": 0.4330436,
              "iyz": 0.08010418,
              "izz": 0.2752753
            },
            "collision_meshes": [
              "dining_chair_collision_0.obj",
              "dining_chair_collision_1.obj",
              "dining_chair_collision_2.obj",
              "dining_chair_collision_3.obj",
              "dining_chair_collision_4.obj",
              "dining_chair_collision_5.obj",
              "dining_chair_collision_6.obj",
              "dining_chair_collision_7.obj",
              "dining_chair_collision_8.obj",
              "dining_chair_collision_9.obj",
              "dining_chair_collision_10.obj",
              "dining_chair_collision_11.obj",
              "dining_chair_collision_12.obj",
              "dining_chair_collision_13.obj",
              "dining_chair_collision_14.obj",
              "dining_chair_collision_15.obj",
              "dining_chair_collision_16.obj",
              "dining_chair_collision_17.obj",
              "dining_chair_collision_18.obj",
              "dining_chair_collision_19.obj",
              "dining_chair_collision_20.obj",
              "dining_chair_collision_21.obj",
              "dining_chair_collision_22.obj",
              "dining_chair_collision_23.obj",
              "dining_chair_collision_24.obj",
              "dining_chair_collision_25.obj",
              "dining_chair_collision_26.obj",
              "dining_chair_collision_27.obj",
              "dining_chair_collision_28.obj",
              "dining_chair_collision_29.obj",
              "dining_chair_collision_30.obj",
              "dining_chair_collision_31.obj",
              "dining_chair_collision_32.obj",
              "dining_chair_collision_33.obj",
              "dining_chair_collision_34.obj",
              "dining_chair_collision_35.obj",
              "dining_chair_collision_36.obj",
              "dining_chair_collision_37.obj",
              "dining_chair_collision_38.obj",
              "dining_chair_collision_39.obj",
              "dining_chair_collision_40.obj",
              "dining_chair_collision_41.obj",
              "dining_chair_collision_42.obj",
              "dining_chair_collision_43.obj",
              "dining_chair_collision_44.obj",
              "dining_chair_collision_45.obj",
              "dining_chair_collision_46.obj",
              "dining_chair_collision_47.obj",
              "dining_chair_collision_48.obj",
              "dining_chair_collision_49.obj",
              "dining_chair_collision_50.obj",
              "dining_chair_collision_51.obj",
              "dining_chair_collision_52.obj",
              "dining_chair_collision_53.obj",
              "dining_chair_collision_54.obj",
              "dining_chair_collision_55.obj",
              "dining_chair_collision_56.obj",
              "dining_chair_collision_57.obj",
              "dining_chair_collision_58.obj",
              "dining_chair_collision_59.obj",
              "dining_chair_collision_60.obj",
              "dining_chair_collision_61.obj",
              "dining_chair_collision_62.obj",
              "dining_chair_collision_63.obj",
              "dining_chair_collision_64.obj",
              "dining_chair_collision_65.obj",
              "dining_chair_collision_66.obj",
              "dining_chair_collision_67.obj",
              "dining_chair_collision_68.obj",
              "dining_chair_collision_69.obj",
              "dining_chair_collision_70.obj",
              "dining_chair_collision_71.obj",
              "dining_chair_collision_72.obj",
              "dining_chair_collision_73.obj",
              "dining_chair_collision_74.obj",
              "dining_chair_collision_75.obj",
              "dining_chair_collision_76.obj",
              "dining_chair_collision_77.obj",
              "dining_chair_collision_78.obj",
              "dining_chair_collision_79.obj",
              "dining_chair_collision_80.obj",
              "dining_chair_collision_81.obj",
              "dining_chair_collision_82.obj",
              "dining_chair_collision_83.obj",
              "dining_chair_collision_84.obj",
              "dining_chair_collision_85.obj",
              "dining_chair_collision_86.obj",
              "dining_chair_collision_87.obj",
              "dining_chair_collision_88.obj",
              "dining_chair_collision_89.obj",
              "dining_chair_collision_90.obj",
              "dining_chair_collision_91.obj",
              "dining_chair_collision_92.obj",
              "dining_chair_collision_93.obj",
              "dining_chair_collision_94.obj",
              "dining_chair_collision_95.obj",
              "dining_chair_collision_96.obj",
              "dining_chair_collision_97.obj",
              "dining_chair_collision_98.obj",
              "dining_chair_collision_99.obj",
              "dining_chair_collision_100.obj",
              "dining_chair_collision_101.obj",
              "dining_chair_collision_102.obj",
              "dining_chair_collision_103.obj",
              "dining_chair_collision_104.obj",
              "dining_chair_collision_105.obj",
              "dining_chair_collision_106.obj",
              "dining_chair_collision_107.obj",
              "dining_chair_collision_108.obj",
              "dining_chair_collision_109.obj",
              "dining_chair_collision_110.obj",
              "dining_chair_collision_111.obj",
              "dining_chair_collision_112.obj",
              "dining_chair_collision_113.obj",
              "dining_chair_collision_114.obj",
              "dining_chair_collision_115.obj",
              "dining_chair_collision_116.obj",
              "dining_chair_collision_117.obj",
              "dining_chair_collision_118.obj",
              "dining_chair_collision_119.obj",
              "dining_chair_collision_120.obj",
              "dining_chair_collision_121.obj",
              "dining_chair_collision_122.obj",
              "dining_chair_collision_123.obj",
              "dining_chair_collision_124.obj",
              "dining_chair_collision_125.obj",
              "dining_chair_collision_126.obj",
              "dining_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "dining_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "dining_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "dining_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "dining_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "print_0",
      "room_id": "kitchen",
      "name": "print",
      "description": "rustic framed botanical herb print",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -0.2764290622444743,
          -1.95,
          1.48
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          -6.123233995736766e-17
        ]
      },
      "bbox_min": [
        -0.2750000059604645,
        -2.3774138213639162e-08,
        -0.3055555522441864
      ],
      "bbox_max": [
        0.2750000059604645,
        0.024444468319416046,
        0.3055555522441864
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/print_1777552727109/print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/print_1777552727109/print.sdf",
      "image_path": "generated_assets/wall_mounted/images/print_1777552727109.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "kitchen_south",
        "position_2d": [
          2.3764290622444744,
          1.48
        ],
        "rotation_2d": 0.0,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/print_1777552727109/print.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/print_1777552727109/print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.7,
            "inertia_pose": [
              -0.0,
              0.00929,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.02490517,
              "ixy": -1.78533e-09,
              "ixz": -3.10834e-12,
              "iyy": 0.04529072,
              "iyz": 3.212261e-11,
              "izz": 0.02043954
            },
            "collision_meshes": [
              "print_collision_0.obj",
              "print_collision_1.obj",
              "print_collision_2.obj",
              "print_collision_3.obj",
              "print_collision_4.obj",
              "print_collision_5.obj",
              "print_collision_6.obj",
              "print_collision_7.obj",
              "print_collision_8.obj",
              "print_collision_9.obj",
              "print_collision_10.obj",
              "print_collision_11.obj",
              "print_collision_12.obj",
              "print_collision_13.obj",
              "print_collision_14.obj",
              "print_collision_15.obj",
              "print_collision_16.obj",
              "print_collision_17.obj",
              "print_collision_18.obj",
              "print_collision_19.obj",
              "print_collision_20.obj",
              "print_collision_21.obj",
              "print_collision_22.obj",
              "print_collision_23.obj",
              "print_collision_24.obj",
              "print_collision_25.obj",
              "print_collision_26.obj",
              "print_collision_27.obj",
              "print_collision_28.obj",
              "print_collision_29.obj",
              "print_collision_30.obj",
              "print_collision_31.obj",
              "print_collision_32.obj",
              "print_collision_33.obj",
              "print_collision_34.obj",
              "print_collision_35.obj",
              "print_collision_36.obj",
              "print_collision_37.obj",
              "print_collision_38.obj",
              "print_collision_39.obj",
              "print_collision_40.obj",
              "print_collision_41.obj",
              "print_collision_42.obj",
              "print_collision_43.obj",
              "print_collision_44.obj",
              "print_collision_45.obj",
              "print_collision_46.obj",
              "print_collision_47.obj",
              "print_collision_48.obj",
              "print_collision_49.obj",
              "print_collision_50.obj",
              "print_collision_51.obj",
              "print_collision_52.obj",
              "print_collision_53.obj",
              "print_collision_54.obj",
              "print_collision_55.obj",
              "print_collision_56.obj",
              "print_collision_57.obj",
              "print_collision_58.obj",
              "print_collision_59.obj",
              "print_collision_60.obj",
              "print_collision_61.obj",
              "print_collision_62.obj",
              "print_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "print_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "print.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "print.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "mirror_0",
      "room_id": "kitchen",
      "name": "mirror",
      "description": "arched wall mirror with thin wood frame",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          0.9499999999999997,
          1.95,
          1.55
        ],
        "rotation_wxyz": [
          6.123233995736766e-17,
          0.0,
          0.0,
          1.0
        ]
      },
      "bbox_min": [
        -0.22499999403953552,
        -1.9670125084303436e-08,
        -0.45000001788139343
      ],
      "bbox_max": [
        0.22499999403953552,
        0.02700001932680607,
        0.44999998807907104
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/mirror_1777553643281/mirror.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/mirror_1777553643281/mirror.sdf",
      "image_path": "generated_assets/wall_mounted/images/mirror_1777553643281.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "kitchen_north",
        "position_2d": [
          3.05,
          1.55
        ],
        "rotation_2d": 0.0,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/mirror_1777553643281/mirror.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/mirror_1777553643281/mirror.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.2,
            "inertia_pose": [
              -0.0,
              0.0135,
              -0.025205,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.3555389,
              "ixy": -9.041542e-09,
              "ixz": -9.549536e-09,
              "iyy": 0.4566267,
              "iyz": 6.536504e-11,
              "izz": 0.1013136
            },
            "collision_meshes": [
              "mirror_collision_0.obj",
              "mirror_collision_1.obj",
              "mirror_collision_2.obj",
              "mirror_collision_3.obj",
              "mirror_collision_4.obj",
              "mirror_collision_5.obj",
              "mirror_collision_6.obj",
              "mirror_collision_7.obj",
              "mirror_collision_8.obj",
              "mirror_collision_9.obj",
              "mirror_collision_10.obj",
              "mirror_collision_11.obj",
              "mirror_collision_12.obj",
              "mirror_collision_13.obj",
              "mirror_collision_14.obj",
              "mirror_collision_15.obj",
              "mirror_collision_16.obj",
              "mirror_collision_17.obj",
              "mirror_collision_18.obj",
              "mirror_collision_19.obj",
              "mirror_collision_20.obj",
              "mirror_collision_21.obj",
              "mirror_collision_22.obj",
              "mirror_collision_23.obj",
              "mirror_collision_24.obj",
              "mirror_collision_25.obj",
              "mirror_collision_26.obj",
              "mirror_collision_27.obj",
              "mirror_collision_28.obj",
              "mirror_collision_29.obj",
              "mirror_collision_30.obj",
              "mirror_collision_31.obj",
              "mirror_collision_32.obj",
              "mirror_collision_33.obj",
              "mirror_collision_34.obj",
              "mirror_collision_35.obj",
              "mirror_collision_36.obj",
              "mirror_collision_37.obj",
              "mirror_collision_38.obj",
              "mirror_collision_39.obj",
              "mirror_collision_40.obj",
              "mirror_collision_41.obj",
              "mirror_collision_42.obj",
              "mirror_collision_43.obj",
              "mirror_collision_44.obj",
              "mirror_collision_45.obj",
              "mirror_collision_46.obj",
              "mirror_collision_47.obj",
              "mirror_collision_48.obj",
              "mirror_collision_49.obj",
              "mirror_collision_50.obj",
              "mirror_collision_51.obj",
              "mirror_collision_52.obj",
              "mirror_collision_53.obj",
              "mirror_collision_54.obj",
              "mirror_collision_55.obj",
              "mirror_collision_56.obj",
              "mirror_collision_57.obj",
              "mirror_collision_58.obj",
              "mirror_collision_59.obj",
              "mirror_collision_60.obj",
              "mirror_collision_61.obj",
              "mirror_collision_62.obj",
              "mirror_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mirror_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.9,
              "mu2": 0.9
            },
            "visual_meshes": [
              "mirror.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mirror.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "display_shelf_0",
      "room_id": "kitchen",
      "name": "display_shelf",
      "description": "simple narrow wooden display shelf approximately 60cm wide natural oak",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          2.0500000000000003,
          -0.75,
          1.42
        ],
        "rotation_wxyz": [
          0.7071067811865476,
          0.0,
          0.0,
          0.7071067811865475
        ]
      },
      "bbox_min": [
        -0.25,
        -2.3032340479289815e-08,
        -0.07000000029802322
      ],
      "bbox_max": [
        0.25,
        0.10000002384185791,
        0.07000000029802322
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/display_shelf_1777554192567/display_shelf.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/display_shelf_1777554192567/display_shelf.sdf",
      "image_path": "generated_assets/wall_mounted/images/display_shelf_1777554192567.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "kitchen_east",
        "position_2d": [
          2.75,
          1.42
        ],
        "rotation_2d": 0.0,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/display_shelf_1777554192567/display_shelf.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/display_shelf_1777554192567/display_shelf.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 9.5,
            "inertia_pose": [
              -0.0,
              0.041172,
              0.022396,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03296661,
              "ixy": -2.087811e-08,
              "ixz": -1.792468e-09,
              "iyy": 0.2495768,
              "iyz": -0.002155898,
              "izz": 0.2316782
            },
            "collision_meshes": [
              "display_shelf_collision_0.obj",
              "display_shelf_collision_1.obj",
              "display_shelf_collision_2.obj",
              "display_shelf_collision_3.obj",
              "display_shelf_collision_4.obj",
              "display_shelf_collision_5.obj",
              "display_shelf_collision_6.obj",
              "display_shelf_collision_7.obj",
              "display_shelf_collision_8.obj",
              "display_shelf_collision_9.obj",
              "display_shelf_collision_10.obj",
              "display_shelf_collision_11.obj",
              "display_shelf_collision_12.obj",
              "display_shelf_collision_13.obj",
              "display_shelf_collision_14.obj",
              "display_shelf_collision_15.obj",
              "display_shelf_collision_16.obj",
              "display_shelf_collision_17.obj",
              "display_shelf_collision_18.obj",
              "display_shelf_collision_19.obj",
              "display_shelf_collision_20.obj",
              "display_shelf_collision_21.obj",
              "display_shelf_collision_22.obj",
              "display_shelf_collision_23.obj",
              "display_shelf_collision_24.obj",
              "display_shelf_collision_25.obj",
              "display_shelf_collision_26.obj",
              "display_shelf_collision_27.obj",
              "display_shelf_collision_28.obj",
              "display_shelf_collision_29.obj",
              "display_shelf_collision_30.obj",
              "display_shelf_collision_31.obj",
              "display_shelf_collision_32.obj",
              "display_shelf_collision_33.obj",
              "display_shelf_collision_34.obj",
              "display_shelf_collision_35.obj",
              "display_shelf_collision_36.obj",
              "display_shelf_collision_37.obj",
              "display_shelf_collision_38.obj",
              "display_shelf_collision_39.obj",
              "display_shelf_collision_40.obj",
              "display_shelf_collision_41.obj",
              "display_shelf_collision_42.obj",
              "display_shelf_collision_43.obj",
              "display_shelf_collision_44.obj",
              "display_shelf_collision_45.obj",
              "display_shelf_collision_46.obj",
              "display_shelf_collision_47.obj",
              "display_shelf_collision_48.obj",
              "display_shelf_collision_49.obj",
              "display_shelf_collision_50.obj",
              "display_shelf_collision_51.obj",
              "display_shelf_collision_52.obj",
              "display_shelf_collision_53.obj",
              "display_shelf_collision_54.obj",
              "display_shelf_collision_55.obj",
              "display_shelf_collision_56.obj",
              "display_shelf_collision_57.obj",
              "display_shelf_collision_58.obj",
              "display_shelf_collision_59.obj",
              "display_shelf_collision_60.obj",
              "display_shelf_collision_61.obj",
              "display_shelf_collision_62.obj",
              "display_shelf_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "display_shelf_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "display_shelf_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "display_shelf.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "display_shelf.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "print_1",
      "room_id": "kitchen",
      "name": "print",
      "description": "rustic framed botanical herb print",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -2.0500000000000003,
          1.0821215184885684,
          1.4599683001496244
        ],
        "rotation_wxyz": [
          0.7071047187056844,
          -0.0017078595243643115,
          -0.0017078595243643115,
          -0.7071047187056845
        ]
      },
      "bbox_min": [
        -0.2750000059604645,
        -2.3774138213639162e-08,
        -0.3055555522441864
      ],
      "bbox_max": [
        0.2750000059604645,
        0.024444468319416046,
        0.3055555522441864
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/print_1777552727109/print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/print_1777552727109/print.sdf",
      "image_path": "generated_assets/wall_mounted/images/print_1777552727109.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "kitchen_west",
        "position_2d": [
          3.0821215184885684,
          1.4599683001496244
        ],
        "rotation_2d": -0.004830560900543738,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/print_1777552727109/print.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/wall_mounted/sdf/print_1777552727109/print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.7,
            "inertia_pose": [
              -0.0,
              0.00929,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.02490517,
              "ixy": -1.78533e-09,
              "ixz": -3.10834e-12,
              "iyy": 0.04529072,
              "iyz": 3.212261e-11,
              "izz": 0.02043954
            },
            "collision_meshes": [
              "print_collision_0.obj",
              "print_collision_1.obj",
              "print_collision_2.obj",
              "print_collision_3.obj",
              "print_collision_4.obj",
              "print_collision_5.obj",
              "print_collision_6.obj",
              "print_collision_7.obj",
              "print_collision_8.obj",
              "print_collision_9.obj",
              "print_collision_10.obj",
              "print_collision_11.obj",
              "print_collision_12.obj",
              "print_collision_13.obj",
              "print_collision_14.obj",
              "print_collision_15.obj",
              "print_collision_16.obj",
              "print_collision_17.obj",
              "print_collision_18.obj",
              "print_collision_19.obj",
              "print_collision_20.obj",
              "print_collision_21.obj",
              "print_collision_22.obj",
              "print_collision_23.obj",
              "print_collision_24.obj",
              "print_collision_25.obj",
              "print_collision_26.obj",
              "print_collision_27.obj",
              "print_collision_28.obj",
              "print_collision_29.obj",
              "print_collision_30.obj",
              "print_collision_31.obj",
              "print_collision_32.obj",
              "print_collision_33.obj",
              "print_collision_34.obj",
              "print_collision_35.obj",
              "print_collision_36.obj",
              "print_collision_37.obj",
              "print_collision_38.obj",
              "print_collision_39.obj",
              "print_collision_40.obj",
              "print_collision_41.obj",
              "print_collision_42.obj",
              "print_collision_43.obj",
              "print_collision_44.obj",
              "print_collision_45.obj",
              "print_collision_46.obj",
              "print_collision_47.obj",
              "print_collision_48.obj",
              "print_collision_49.obj",
              "print_collision_50.obj",
              "print_collision_51.obj",
              "print_collision_52.obj",
              "print_collision_53.obj",
              "print_collision_54.obj",
              "print_collision_55.obj",
              "print_collision_56.obj",
              "print_collision_57.obj",
              "print_collision_58.obj",
              "print_collision_59.obj",
              "print_collision_60.obj",
              "print_collision_61.obj",
              "print_collision_62.obj",
              "print_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "print_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "print.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "print.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "pendant_light_0",
      "room_id": "kitchen",
      "name": "pendant_light",
      "description": "Rustic black metal and warm glass single pendant light for a dining table",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          0.75,
          1.1,
          2.5
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -0.22499999403953552,
        -0.2250000238418579,
        -0.7278284430503845
      ],
      "bbox_max": [
        0.2250000387430191,
        0.22499997913837433,
        -1.1083948869838878e-08
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1777555197104/pendant_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1777555197104/pendant_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/pendant_light_1777555197104.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/ceiling_mounted/sdf/pendant_light_1777555197104/pendant_light.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/ceiling_mounted/sdf/pendant_light_1777555197104/pendant_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.6,
            "inertia_pose": [
              0.0,
              -0.0,
              -0.503099,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03899273,
              "ixy": 1.122148e-09,
              "ixz": -5.886998e-10,
              "iyy": 0.03899248,
              "iyz": 1.168799e-09,
              "izz": 0.01798146
            },
            "collision_meshes": [
              "pendant_light_collision_0.obj",
              "pendant_light_collision_1.obj",
              "pendant_light_collision_2.obj",
              "pendant_light_collision_3.obj",
              "pendant_light_collision_4.obj",
              "pendant_light_collision_5.obj",
              "pendant_light_collision_6.obj",
              "pendant_light_collision_7.obj",
              "pendant_light_collision_8.obj",
              "pendant_light_collision_9.obj",
              "pendant_light_collision_10.obj",
              "pendant_light_collision_11.obj",
              "pendant_light_collision_12.obj",
              "pendant_light_collision_13.obj",
              "pendant_light_collision_14.obj",
              "pendant_light_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "pendant_light_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "pendant_light_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "pendant_light.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "pendant_light.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "semi_flush_ceiling_light_0",
      "room_id": "kitchen",
      "name": "semi_flush_ceiling_light",
      "description": "Small round matte white semi-flush ceiling light for general kitchen illumination",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          0.005889328839218702,
          -0.38333067982950275,
          2.5
        ],
        "rotation_wxyz": [
          0.9999999156760571,
          0.0,
          0.0,
          -0.00041066760150527336
        ]
      },
      "bbox_min": [
        -0.1599999964237213,
        -0.15999998152256012,
        -0.20804539322853088
      ],
      "bbox_max": [
        0.1599999964237213,
        0.15999998152256012,
        -3.5770590933736912e-09
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/semi_flush_ceiling_light_1777556475548/semi_flush_ceiling_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/semi_flush_ceiling_light_1777556475548/semi_flush_ceiling_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/semi_flush_ceiling_light_1777556475548.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_kitchen/generated_assets/ceiling_mounted/sdf/semi_flush_ceiling_light_1777556475548/semi_flush_ceiling_light.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/ceiling_mounted/sdf/semi_flush_ceiling_light_1777556475548/semi_flush_ceiling_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.6,
            "inertia_pose": [
              -0.0,
              -0.0,
              -0.108333,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.02933132,
              "ixy": 5.937637e-10,
              "ixz": -2.677424e-10,
              "iyy": 0.02933132,
              "iyz": -8.302814e-10,
              "izz": 0.02578206
            },
            "collision_meshes": [
              "semi_flush_ceiling_light_collision_0.obj",
              "semi_flush_ceiling_light_collision_1.obj",
              "semi_flush_ceiling_light_collision_2.obj",
              "semi_flush_ceiling_light_collision_3.obj",
              "semi_flush_ceiling_light_collision_4.obj",
              "semi_flush_ceiling_light_collision_5.obj",
              "semi_flush_ceiling_light_collision_6.obj",
              "semi_flush_ceiling_light_collision_7.obj",
              "semi_flush_ceiling_light_collision_8.obj",
              "semi_flush_ceiling_light_collision_9.obj",
              "semi_flush_ceiling_light_collision_10.obj",
              "semi_flush_ceiling_light_collision_11.obj",
              "semi_flush_ceiling_light_collision_12.obj",
              "semi_flush_ceiling_light_collision_13.obj",
              "semi_flush_ceiling_light_collision_14.obj",
              "semi_flush_ceiling_light_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "semi_flush_ceiling_light_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "semi_flush_ceiling_light_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "semi_flush_ceiling_light.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "semi_flush_ceiling_light.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "linen_napkin_0",
      "room_id": "kitchen",
      "name": "linen_napkin",
      "description": "folded linen napkin in muted beige",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.5012420287565542,
          1.330151333260503,
          0.6837879001817132
        ],
        "rotation_wxyz": [
          0.9930672865457305,
          -0.00015308748421013558,
          9.01053742838688e-06,
          0.11754718574143892
        ]
      },
      "bbox_min": [
        -0.10000000149011612,
        -0.05000000074505806,
        0.0
      ],
      "bbox_max": [
        0.10000000149011612,
        0.05000000074505806,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.45,
          0.18
        ],
        "rotation_2d": 0.20943951023931956,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "linen_napkin.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "linen_napkin.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "linen_napkin_1",
      "room_id": "kitchen",
      "name": "linen_napkin",
      "description": "folded linen napkin in muted beige",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.3825261924288138,
          1.3008902372020774,
          0.6838029906108094
        ],
        "rotation_wxyz": [
          0.9999999605750817,
          -0.00015107146561603153,
          -2.6351088841980863e-05,
          0.00023522939395335745
        ]
      },
      "bbox_min": [
        -0.10000000149011612,
        -0.05000000074505806,
        0.0
      ],
      "bbox_max": [
        0.10000000149011612,
        0.05000000074505806,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.44,
          0.16
        ],
        "rotation_2d": -0.13962634015954636,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "linen_napkin.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "linen_napkin.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "mug_0",
      "room_id": "kitchen",
      "name": "mug",
      "description": "white ceramic mug",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.4320168235866865,
          1.1999363263089722,
          0.683825124723174
        ],
        "rotation_wxyz": [
          0.9817893329096055,
          -0.00015225269613856408,
          2.176375276955069e-05,
          0.18997284577109264
        ]
      },
      "bbox_min": [
        -0.03499883785843849,
        -0.050003886222839355,
        0.0
      ],
      "bbox_max": [
        0.035006601363420486,
        0.049996115267276764,
        0.08000621944665909
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/mug_1777561282255/mug.glb",
      "sdf_path": "generated_assets/manipuland/sdf/mug_1777561282255/mug.sdf",
      "image_path": "generated_assets/manipuland/images/mug_1777561282255.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.38,
          0.06
        ],
        "rotation_2d": 0.3839724354387525,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561282255/mug.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561282255/mug.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.32,
            "inertia_pose": [
              4e-06,
              -0.011329,
              0.036709,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0004096857,
              "ixy": -1.169589e-11,
              "ixz": -4.313337e-13,
              "iyy": 0.0003510029,
              "iyz": -3.870676e-06,
              "izz": 0.0003648537
            },
            "collision_meshes": [
              "mug_collision_0.obj",
              "mug_collision_1.obj",
              "mug_collision_2.obj",
              "mug_collision_3.obj",
              "mug_collision_4.obj",
              "mug_collision_5.obj",
              "mug_collision_6.obj",
              "mug_collision_7.obj",
              "mug_collision_8.obj",
              "mug_collision_9.obj",
              "mug_collision_10.obj",
              "mug_collision_11.obj",
              "mug_collision_12.obj",
              "mug_collision_13.obj",
              "mug_collision_14.obj",
              "mug_collision_15.obj",
              "mug_collision_16.obj",
              "mug_collision_17.obj",
              "mug_collision_18.obj",
              "mug_collision_19.obj",
              "mug_collision_20.obj",
              "mug_collision_21.obj",
              "mug_collision_22.obj",
              "mug_collision_23.obj",
              "mug_collision_24.obj",
              "mug_collision_25.obj",
              "mug_collision_26.obj",
              "mug_collision_27.obj",
              "mug_collision_28.obj",
              "mug_collision_29.obj",
              "mug_collision_30.obj",
              "mug_collision_31.obj",
              "mug_collision_32.obj",
              "mug_collision_33.obj",
              "mug_collision_34.obj",
              "mug_collision_35.obj",
              "mug_collision_36.obj",
              "mug_collision_37.obj",
              "mug_collision_38.obj",
              "mug_collision_39.obj",
              "mug_collision_40.obj",
              "mug_collision_41.obj",
              "mug_collision_42.obj",
              "mug_collision_43.obj",
              "mug_collision_44.obj",
              "mug_collision_45.obj",
              "mug_collision_46.obj",
              "mug_collision_47.obj",
              "mug_collision_48.obj",
              "mug_collision_49.obj",
              "mug_collision_50.obj",
              "mug_collision_51.obj",
              "mug_collision_52.obj",
              "mug_collision_53.obj",
              "mug_collision_54.obj",
              "mug_collision_55.obj",
              "mug_collision_56.obj",
              "mug_collision_57.obj",
              "mug_collision_58.obj",
              "mug_collision_59.obj",
              "mug_collision_60.obj",
              "mug_collision_61.obj",
              "mug_collision_62.obj",
              "mug_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mug_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "mug.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mug.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "mug_1",
      "room_id": "kitchen",
      "name": "mug",
      "description": "speckled stoneware mug",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.35002859618151116,
          1.1895130639813132,
          0.6838384972123591
        ],
        "rotation_wxyz": [
          0.968370748752388,
          -0.0001467118237225636,
          -4.3108099430685075e-05,
          -0.24951567000505545
        ]
      },
      "bbox_min": [
        -0.05999999865889549,
        -0.04105690121650696,
        0.0
      ],
      "bbox_max": [
        0.022113801911473274,
        0.07894309610128403,
        0.09474670141935349
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/mug_1777561877264/mug.glb",
      "sdf_path": "generated_assets/manipuland/sdf/mug_1777561877264/mug.sdf",
      "image_path": "generated_assets/manipuland/images/mug_1777561877264.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.4,
          0.04
        ],
        "rotation_2d": -0.5235987755982988,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561877264/mug.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561877264/mug.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.32,
            "inertia_pose": [
              -0.018943,
              0.007149,
              0.035064,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0005615717,
              "ixy": -1.133054e-05,
              "ixz": -4.906736e-12,
              "iyy": 0.0004565693,
              "iyz": -3.538305e-05,
              "izz": 0.0004576117
            },
            "collision_meshes": [
              "mug_collision_0.obj",
              "mug_collision_1.obj",
              "mug_collision_2.obj",
              "mug_collision_3.obj",
              "mug_collision_4.obj",
              "mug_collision_5.obj",
              "mug_collision_6.obj",
              "mug_collision_7.obj",
              "mug_collision_8.obj",
              "mug_collision_9.obj",
              "mug_collision_10.obj",
              "mug_collision_11.obj",
              "mug_collision_12.obj",
              "mug_collision_13.obj",
              "mug_collision_14.obj",
              "mug_collision_15.obj",
              "mug_collision_16.obj",
              "mug_collision_17.obj",
              "mug_collision_18.obj",
              "mug_collision_19.obj",
              "mug_collision_20.obj",
              "mug_collision_21.obj",
              "mug_collision_22.obj",
              "mug_collision_23.obj",
              "mug_collision_24.obj",
              "mug_collision_25.obj",
              "mug_collision_26.obj",
              "mug_collision_27.obj",
              "mug_collision_28.obj",
              "mug_collision_29.obj",
              "mug_collision_30.obj",
              "mug_collision_31.obj",
              "mug_collision_32.obj",
              "mug_collision_33.obj",
              "mug_collision_34.obj",
              "mug_collision_35.obj",
              "mug_collision_36.obj",
              "mug_collision_37.obj",
              "mug_collision_38.obj",
              "mug_collision_39.obj",
              "mug_collision_40.obj",
              "mug_collision_41.obj",
              "mug_collision_42.obj",
              "mug_collision_43.obj",
              "mug_collision_44.obj",
              "mug_collision_45.obj",
              "mug_collision_46.obj",
              "mug_collision_47.obj",
              "mug_collision_48.obj",
              "mug_collision_49.obj",
              "mug_collision_50.obj",
              "mug_collision_51.obj",
              "mug_collision_52.obj",
              "mug_collision_53.obj",
              "mug_collision_54.obj",
              "mug_collision_55.obj",
              "mug_collision_56.obj",
              "mug_collision_57.obj",
              "mug_collision_58.obj",
              "mug_collision_59.obj",
              "mug_collision_60.obj",
              "mug_collision_61.obj",
              "mug_collision_62.obj",
              "mug_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mug_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "mug.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mug.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "filled_container_0",
      "room_id": "kitchen",
      "name": "filled_fruit_bowl",
      "description": "fruit_bowl filled with red_apple, pear, orange",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.034226613511513224,
          1.123837968563518,
          0.6836597941129736
        ],
        "rotation_wxyz": [
          0.999986627585126,
          0.0020079812550636567,
          -0.0007752776800540481,
          0.004702298025916678
        ]
      },
      "bbox_min": [
        -0.11909005301213706,
        -0.10194583539747515,
        -0.002629876421886723
      ],
      "bbox_max": [
        0.10200802721809969,
        0.11291436643589403,
        0.13851002808009638
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": null,
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.02,
          -0.02
        ],
        "rotation_2d": 0.0,
        "placement_method": "fill_container"
      }
    },
    {
      "object_id": "linen_napkin_2",
      "room_id": "kitchen",
      "name": "linen_napkin",
      "description": "folded linen napkin in muted beige",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.5711510871941872,
          1.0479553204107643,
          0.683873227918028
        ],
        "rotation_wxyz": [
          0.9999146071115209,
          -0.0001521658237892592,
          -1.904021210681068e-05,
          -0.013067324440961673
        ]
      },
      "bbox_min": [
        -0.10000000149011612,
        -0.05000000074505806,
        0.0
      ],
      "bbox_max": [
        0.10000000149011612,
        0.05000000074505806,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.5,
          -0.1
        ],
        "rotation_2d": -0.10471975511965978,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "linen_napkin.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "linen_napkin.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "linen_napkin_3",
      "room_id": "kitchen",
      "name": "linen_napkin",
      "description": "folded linen napkin in muted beige",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.44800322045533014,
          1.032212234000425,
          0.6838894257180125
        ],
        "rotation_wxyz": [
          0.9955187589252873,
          -0.00015335022521339414,
          -8.222125855337585e-07,
          0.09456414283906894
        ]
      },
      "bbox_min": [
        -0.10000000149011612,
        -0.05000000074505806,
        0.0
      ],
      "bbox_max": [
        0.10000000149011612,
        0.05000000074505806,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.5,
          -0.12
        ],
        "rotation_2d": 0.12217304763960307,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.gltf",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/linen_napkin_1777560726/linen_napkin.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "linen_napkin.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "linen_napkin.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "coffee_maker_0",
      "room_id": "kitchen",
      "name": "coffee_maker",
      "description": "compact black and stainless drip coffee maker",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.4738050894373849,
          -1.299965790484703,
          0.9371638894801081
        ],
        "rotation_wxyz": [
          0.705036966952392,
          0.005565369886241551,
          0.005583615962910275,
          0.7091267341747732
        ]
      },
      "bbox_min": [
        -0.13155409693717957,
        -0.11386239528656006,
        0.0
      ],
      "bbox_max": [
        0.08844590187072754,
        0.12036880850791931,
        0.32532110810279846
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/coffee_maker_1777568420933/coffee_maker.glb",
      "sdf_path": "generated_assets/manipuland/sdf/coffee_maker_1777568420933/coffee_maker.sdf",
      "image_path": "generated_assets/manipuland/images/coffee_maker_1777568420933.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          -0.21,
          -0.02
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/coffee_maker_1777568420933/coffee_maker.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/coffee_maker_1777568420933/coffee_maker.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.3,
            "inertia_pose": [
              -0.011445,
              -0.013767,
              0.195099,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.03646873,
              "ixy": 8.022953e-05,
              "ixz": -0.0002046134,
              "iyy": 0.03343924,
              "iyz": -0.001995022,
              "izz": 0.01764539
            },
            "collision_meshes": [
              "coffee_maker_collision_0.obj",
              "coffee_maker_collision_1.obj",
              "coffee_maker_collision_2.obj",
              "coffee_maker_collision_3.obj",
              "coffee_maker_collision_4.obj",
              "coffee_maker_collision_5.obj",
              "coffee_maker_collision_6.obj",
              "coffee_maker_collision_7.obj",
              "coffee_maker_collision_8.obj",
              "coffee_maker_collision_9.obj",
              "coffee_maker_collision_10.obj",
              "coffee_maker_collision_11.obj",
              "coffee_maker_collision_12.obj",
              "coffee_maker_collision_13.obj",
              "coffee_maker_collision_14.obj",
              "coffee_maker_collision_15.obj",
              "coffee_maker_collision_16.obj",
              "coffee_maker_collision_17.obj",
              "coffee_maker_collision_18.obj",
              "coffee_maker_collision_19.obj",
              "coffee_maker_collision_20.obj",
              "coffee_maker_collision_21.obj",
              "coffee_maker_collision_22.obj",
              "coffee_maker_collision_23.obj",
              "coffee_maker_collision_24.obj",
              "coffee_maker_collision_25.obj",
              "coffee_maker_collision_26.obj",
              "coffee_maker_collision_27.obj",
              "coffee_maker_collision_28.obj",
              "coffee_maker_collision_29.obj",
              "coffee_maker_collision_30.obj",
              "coffee_maker_collision_31.obj",
              "coffee_maker_collision_32.obj",
              "coffee_maker_collision_33.obj",
              "coffee_maker_collision_34.obj",
              "coffee_maker_collision_35.obj",
              "coffee_maker_collision_36.obj",
              "coffee_maker_collision_37.obj",
              "coffee_maker_collision_38.obj",
              "coffee_maker_collision_39.obj",
              "coffee_maker_collision_40.obj",
              "coffee_maker_collision_41.obj",
              "coffee_maker_collision_42.obj",
              "coffee_maker_collision_43.obj",
              "coffee_maker_collision_44.obj",
              "coffee_maker_collision_45.obj",
              "coffee_maker_collision_46.obj",
              "coffee_maker_collision_47.obj",
              "coffee_maker_collision_48.obj",
              "coffee_maker_collision_49.obj",
              "coffee_maker_collision_50.obj",
              "coffee_maker_collision_51.obj",
              "coffee_maker_collision_52.obj",
              "coffee_maker_collision_53.obj",
              "coffee_maker_collision_54.obj",
              "coffee_maker_collision_55.obj",
              "coffee_maker_collision_56.obj",
              "coffee_maker_collision_57.obj",
              "coffee_maker_collision_58.obj",
              "coffee_maker_collision_59.obj",
              "coffee_maker_collision_60.obj",
              "coffee_maker_collision_61.obj",
              "coffee_maker_collision_62.obj",
              "coffee_maker_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "coffee_maker_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_maker_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "coffee_maker.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "coffee_maker.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "herb_0",
      "room_id": "kitchen",
      "name": "herb",
      "description": "green herb",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.4491701152665815,
          -0.8396752199825387,
          0.9397794249169729
        ],
        "rotation_wxyz": [
          0.5968776336743763,
          -0.4819105576746983,
          0.3168148632151291,
          0.5577881741906309
        ]
      },
      "bbox_min": [
        -0.03953343257308006,
        -0.05136631801724434,
        0.0
      ],
      "bbox_max": [
        0.04046656936407089,
        0.0444868765771389,
        0.1648494005203247
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/herb_1777582932388/herb.glb",
      "sdf_path": "generated_assets/manipuland/sdf/herb_1777582932388/herb.sdf",
      "image_path": "generated_assets/manipuland/images/herb_1777582932388.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.27,
          -0.03
        ],
        "rotation_2d": 0.10471975511965978,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/herb_1777582932388/herb.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/herb_1777582932388/herb.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.06,
            "inertia_pose": [
              0.00294,
              -0.001497,
              0.086934,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 6.516887e-05,
              "ixy": 5.248594e-07,
              "ixz": -7.492637e-07,
              "iyy": 6.26822e-05,
              "iyz": -9.670796e-07,
              "izz": 2.029719e-05
            },
            "collision_meshes": [
              "herb_collision_0.obj",
              "herb_collision_1.obj",
              "herb_collision_2.obj",
              "herb_collision_3.obj",
              "herb_collision_4.obj",
              "herb_collision_5.obj",
              "herb_collision_6.obj",
              "herb_collision_7.obj",
              "herb_collision_8.obj",
              "herb_collision_9.obj",
              "herb_collision_10.obj",
              "herb_collision_11.obj",
              "herb_collision_12.obj",
              "herb_collision_13.obj",
              "herb_collision_14.obj",
              "herb_collision_15.obj",
              "herb_collision_16.obj",
              "herb_collision_17.obj",
              "herb_collision_18.obj",
              "herb_collision_19.obj",
              "herb_collision_20.obj",
              "herb_collision_21.obj",
              "herb_collision_22.obj",
              "herb_collision_23.obj",
              "herb_collision_24.obj",
              "herb_collision_25.obj",
              "herb_collision_26.obj",
              "herb_collision_27.obj",
              "herb_collision_28.obj",
              "herb_collision_29.obj",
              "herb_collision_30.obj",
              "herb_collision_31.obj",
              "herb_collision_32.obj",
              "herb_collision_33.obj",
              "herb_collision_34.obj",
              "herb_collision_35.obj",
              "herb_collision_36.obj",
              "herb_collision_37.obj",
              "herb_collision_38.obj",
              "herb_collision_39.obj",
              "herb_collision_40.obj",
              "herb_collision_41.obj",
              "herb_collision_42.obj",
              "herb_collision_43.obj",
              "herb_collision_44.obj",
              "herb_collision_45.obj",
              "herb_collision_46.obj",
              "herb_collision_47.obj",
              "herb_collision_48.obj",
              "herb_collision_49.obj",
              "herb_collision_50.obj",
              "herb_collision_51.obj",
              "herb_collision_52.obj",
              "herb_collision_53.obj",
              "herb_collision_54.obj",
              "herb_collision_55.obj",
              "herb_collision_56.obj",
              "herb_collision_57.obj",
              "herb_collision_58.obj",
              "herb_collision_59.obj",
              "herb_collision_60.obj",
              "herb_collision_61.obj",
              "herb_collision_62.obj",
              "herb_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "herb_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "herb_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "herb.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "herb.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "mug_2",
      "room_id": "kitchen",
      "name": "mug",
      "description": "speckled stoneware mug",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.445446093273881,
          -0.989800144528447,
          0.9371754658229793
        ],
        "rotation_wxyz": [
          0.4982855610211489,
          -1.280261994672032e-06,
          3.4593498810134894e-07,
          0.8670129754946462
        ]
      },
      "bbox_min": [
        -0.05999999865889549,
        -0.04105690121650696,
        0.0
      ],
      "bbox_max": [
        0.022113801911473274,
        0.07894309610128403,
        0.09474670141935349
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/mug_1777561877264/mug.glb",
      "sdf_path": "generated_assets/manipuland/sdf/mug_1777561877264/mug.sdf",
      "image_path": "generated_assets/manipuland/images/mug_1777561877264.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.11,
          -0.01
        ],
        "rotation_2d": 0.4886921905584123,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561877264/mug.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/mug_1777561877264/mug.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.32,
            "inertia_pose": [
              -0.018943,
              0.007149,
              0.035064,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0005615717,
              "ixy": -1.133054e-05,
              "ixz": -4.906736e-12,
              "iyy": 0.0004565693,
              "iyz": -3.538305e-05,
              "izz": 0.0004576117
            },
            "collision_meshes": [
              "mug_collision_0.obj",
              "mug_collision_1.obj",
              "mug_collision_2.obj",
              "mug_collision_3.obj",
              "mug_collision_4.obj",
              "mug_collision_5.obj",
              "mug_collision_6.obj",
              "mug_collision_7.obj",
              "mug_collision_8.obj",
              "mug_collision_9.obj",
              "mug_collision_10.obj",
              "mug_collision_11.obj",
              "mug_collision_12.obj",
              "mug_collision_13.obj",
              "mug_collision_14.obj",
              "mug_collision_15.obj",
              "mug_collision_16.obj",
              "mug_collision_17.obj",
              "mug_collision_18.obj",
              "mug_collision_19.obj",
              "mug_collision_20.obj",
              "mug_collision_21.obj",
              "mug_collision_22.obj",
              "mug_collision_23.obj",
              "mug_collision_24.obj",
              "mug_collision_25.obj",
              "mug_collision_26.obj",
              "mug_collision_27.obj",
              "mug_collision_28.obj",
              "mug_collision_29.obj",
              "mug_collision_30.obj",
              "mug_collision_31.obj",
              "mug_collision_32.obj",
              "mug_collision_33.obj",
              "mug_collision_34.obj",
              "mug_collision_35.obj",
              "mug_collision_36.obj",
              "mug_collision_37.obj",
              "mug_collision_38.obj",
              "mug_collision_39.obj",
              "mug_collision_40.obj",
              "mug_collision_41.obj",
              "mug_collision_42.obj",
              "mug_collision_43.obj",
              "mug_collision_44.obj",
              "mug_collision_45.obj",
              "mug_collision_46.obj",
              "mug_collision_47.obj",
              "mug_collision_48.obj",
              "mug_collision_49.obj",
              "mug_collision_50.obj",
              "mug_collision_51.obj",
              "mug_collision_52.obj",
              "mug_collision_53.obj",
              "mug_collision_54.obj",
              "mug_collision_55.obj",
              "mug_collision_56.obj",
              "mug_collision_57.obj",
              "mug_collision_58.obj",
              "mug_collision_59.obj",
              "mug_collision_60.obj",
              "mug_collision_61.obj",
              "mug_collision_62.obj",
              "mug_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mug_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mug_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "mug.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mug.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "jar_0",
      "room_id": "kitchen",
      "name": "jar",
      "description": "small glass jar with lid for coffee sugar",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3446057046669821,
          -0.9137309329585775,
          0.9371743618893238
        ],
        "rotation_wxyz": [
          0.6301048845919288,
          5.2257192174296426e-06,
          1.0733207924238562e-05,
          0.7765100348809938
        ]
      },
      "bbox_min": [
        -0.04121760278940201,
        -0.045849673449993134,
        0.0
      ],
      "bbox_max": [
        0.03878239914774895,
        0.04341446980834007,
        0.09756097197532654
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/jar_1777584795026/jar.glb",
      "sdf_path": "generated_assets/manipuland/sdf/jar_1777584795026/jar.sdf",
      "image_path": "generated_assets/manipuland/images/jar_1777584795026.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.21,
          0.09
        ],
        "rotation_2d": 0.17453292519943295,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/jar_1777584795026/jar.glb",
      "sdf_path_resolved": "room_kitchen/generated_assets/manipuland/sdf/jar_1777584795026/jar.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.0,
            "inertia_pose": [
              -0.001218,
              -6e-06,
              0.016114,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0009248295,
              "ixy": 6.615329e-10,
              "ixz": -1.855407e-10,
              "iyy": 0.0009245656,
              "iyz": 2.74293e-07,
              "izz": 0.0007287449
            },
            "collision_meshes": [
              "jar_collision_0.obj",
              "jar_collision_1.obj",
              "jar_collision_2.obj",
              "jar_collision_3.obj",
              "jar_collision_4.obj",
              "jar_collision_5.obj",
              "jar_collision_6.obj",
              "jar_collision_7.obj",
              "jar_collision_8.obj",
              "jar_collision_9.obj",
              "jar_collision_10.obj",
              "jar_collision_11.obj",
              "jar_collision_12.obj",
              "jar_collision_13.obj",
              "jar_collision_14.obj",
              "jar_collision_15.obj",
              "jar_collision_16.obj",
              "jar_collision_17.obj",
              "jar_collision_18.obj",
              "jar_collision_19.obj",
              "jar_collision_20.obj",
              "jar_collision_21.obj",
              "jar_collision_22.obj",
              "jar_collision_23.obj",
              "jar_collision_24.obj",
              "jar_collision_25.obj",
              "jar_collision_26.obj",
              "jar_collision_27.obj",
              "jar_collision_28.obj",
              "jar_collision_29.obj",
              "jar_collision_30.obj",
              "jar_collision_31.obj",
              "jar_collision_32.obj",
              "jar_collision_33.obj",
              "jar_collision_34.obj",
              "jar_collision_35.obj",
              "jar_collision_36.obj",
              "jar_collision_37.obj",
              "jar_collision_38.obj",
              "jar_collision_39.obj",
              "jar_collision_40.obj",
              "jar_collision_41.obj",
              "jar_collision_42.obj",
              "jar_collision_43.obj",
              "jar_collision_44.obj",
              "jar_collision_45.obj",
              "jar_collision_46.obj",
              "jar_collision_47.obj",
              "jar_collision_48.obj",
              "jar_collision_49.obj",
              "jar_collision_50.obj",
              "jar_collision_51.obj",
              "jar_collision_52.obj",
              "jar_collision_53.obj",
              "jar_collision_54.obj",
              "jar_collision_55.obj",
              "jar_collision_56.obj",
              "jar_collision_57.obj",
              "jar_collision_58.obj",
              "jar_collision_59.obj",
              "jar_collision_60.obj",
              "jar_collision_61.obj",
              "jar_collision_62.obj",
              "jar_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "jar_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "jar.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "jar.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "window_1",
      "room_id": "kitchen",
      "name": "window_1",
      "description": "Room geometry window_1",
      "object_type": "window",
      "transform": {
        "translation": [
          -0.5575201891697783,
          1.975,
          1.5
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/windows/window_1/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/windows/window_1/window.gltf"
    },
    {
      "object_id": "north_wall_exterior",
      "room_id": "kitchen",
      "name": "north_wall_exterior",
      "description": "Room geometry north_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          2.025,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/north_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/north_wall_exterior/wall.gltf"
    },
    {
      "object_id": "south_wall_exterior",
      "room_id": "kitchen",
      "name": "south_wall_exterior",
      "description": "Room geometry south_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          -2.025,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/south_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/south_wall_exterior/wall.gltf"
    },
    {
      "object_id": "window_2",
      "room_id": "kitchen",
      "name": "window_2",
      "description": "Room geometry window_2",
      "object_type": "window",
      "transform": {
        "translation": [
          2.075,
          0.8220769989132148,
          1.5
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/windows/window_2/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/windows/window_2/window.gltf"
    },
    {
      "object_id": "east_wall_exterior",
      "room_id": "kitchen",
      "name": "east_wall_exterior",
      "description": "Room geometry east_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          2.125,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/east_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/east_wall_exterior/wall.gltf"
    },
    {
      "object_id": "west_wall_exterior",
      "room_id": "kitchen",
      "name": "west_wall_exterior",
      "description": "Room geometry west_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          -2.125,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/kitchen/walls/west_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/kitchen/walls/west_wall_exterior/wall.gltf"
    },
    {
      "object_id": "floor_kitchen",
      "room_id": "kitchen",
      "name": "Floor",
      "description": "Floor surface",
      "object_type": "floor",
      "transform": {
        "translation": [
          0.0,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.1,
        -2.0,
        -0.1
      ],
      "bbox_max": [
        2.1,
        2.0,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "/mnt/petrelfs/songhan/puyi.wang/Code_Scene_workspace/outputs/scene_085/floor_plans/kitchen/floors/floor.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "floor_plans/kitchen/floors/floor.gltf"
    }
  ]
}