scene_087/scene_metadata.json

{
  "scene_dir": "scene_087",
  "layout": {
    "wall_height": 2.7,
    "house_prompt": "A bright bathroom features a spacious bathtub positioned beside a large window, while a stylish shelving unit stands against the wall, displaying towels and small decorative items. The toilet is placed across from the tub, with a small basket beside it."
  },
  "rooms": {
    "bathroom": {
      "room_id": "bathroom",
      "text_description": "A bright bathroom features a spacious bathtub positioned beside a large window, while a stylish shelving unit stands against the wall, displaying towels and small decorative items. The toilet is placed across from the tub, with a small basket beside it.",
      "width": 2.8,
      "length": 3.2,
      "wall_height": 2.7,
      "offset": [
        1.6,
        1.4
      ]
    }
  },
  "objects": [
    {
      "object_id": "north_wall",
      "room_id": "bathroom",
      "name": "north_wall",
      "description": "Room north_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          1.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -1.6,
        -0.025,
        0.0
      ],
      "bbox_max": [
        1.6,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/bathroom/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/bathroom/walls/north_wall/wall.gltf"
    },
    {
      "object_id": "south_wall",
      "room_id": "bathroom",
      "name": "south_wall",
      "description": "Room south_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          -1.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -1.6,
        -0.025,
        0.0
      ],
      "bbox_max": [
        1.6,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/bathroom/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/bathroom/walls/south_wall/wall.gltf"
    },
    {
      "object_id": "east_wall",
      "room_id": "bathroom",
      "name": "east_wall",
      "description": "Room east_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          1.5750000000000002,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -1.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        1.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/bathroom/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/bathroom/walls/east_wall/wall.gltf"
    },
    {
      "object_id": "west_wall",
      "room_id": "bathroom",
      "name": "west_wall",
      "description": "Room west_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          -1.5750000000000002,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -1.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        1.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/bathroom/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/bathroom/walls/west_wall/wall.gltf"
    },
    {
      "object_id": "bathtub_0",
      "room_id": "bathroom",
      "name": "bathtub",
      "description": "spacious modern freestanding bathtub with clean lines",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.025023566026422885,
          0.98004982334338,
          -9.557414598708612e-05
        ],
        "rotation_wxyz": [
          5.580866835347902e-08,
          6.352456655094237e-07,
          1.913760070410058e-06,
          -0.9999999999979654
        ]
      },
      "bbox_min": [
        -0.800000011920929,
        -0.35999956727027893,
        2.1457709920014167e-07
      ],
      "bbox_max": [
        0.800000011920929,
        0.35999947786331177,
        0.6461839079856873
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/bathtub_1777526953278/bathtub.glb",
      "sdf_path": "generated_assets/furniture/sdf/bathtub_1777526953278/bathtub.sdf",
      "image_path": "generated_assets/furniture/images/bathtub_1777526953278.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/furniture/sdf/bathtub_1777526953278/bathtub.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/furniture/sdf/bathtub_1777526953278/bathtub.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 120.0,
            "inertia_pose": [
              -0.0,
              1e-06,
              0.264881,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 13.22128,
              "ixy": 0.0006531773,
              "ixz": -7.993779e-05,
              "iyy": 34.83947,
              "iyz": 8.906712e-06,
              "izz": 37.67052
            },
            "collision_meshes": [
              "bathtub_collision_0.obj",
              "bathtub_collision_1.obj",
              "bathtub_collision_2.obj",
              "bathtub_collision_3.obj",
              "bathtub_collision_4.obj",
              "bathtub_collision_5.obj",
              "bathtub_collision_6.obj",
              "bathtub_collision_7.obj",
              "bathtub_collision_8.obj",
              "bathtub_collision_9.obj",
              "bathtub_collision_10.obj",
              "bathtub_collision_11.obj",
              "bathtub_collision_12.obj",
              "bathtub_collision_13.obj",
              "bathtub_collision_14.obj",
              "bathtub_collision_15.obj",
              "bathtub_collision_16.obj",
              "bathtub_collision_17.obj",
              "bathtub_collision_18.obj",
              "bathtub_collision_19.obj",
              "bathtub_collision_20.obj",
              "bathtub_collision_21.obj",
              "bathtub_collision_22.obj",
              "bathtub_collision_23.obj",
              "bathtub_collision_24.obj",
              "bathtub_collision_25.obj",
              "bathtub_collision_26.obj",
              "bathtub_collision_27.obj",
              "bathtub_collision_28.obj",
              "bathtub_collision_29.obj",
              "bathtub_collision_30.obj",
              "bathtub_collision_31.obj",
              "bathtub_collision_32.obj",
              "bathtub_collision_33.obj",
              "bathtub_collision_34.obj",
              "bathtub_collision_35.obj",
              "bathtub_collision_36.obj",
              "bathtub_collision_37.obj",
              "bathtub_collision_38.obj",
              "bathtub_collision_39.obj",
              "bathtub_collision_40.obj",
              "bathtub_collision_41.obj",
              "bathtub_collision_42.obj",
              "bathtub_collision_43.obj",
              "bathtub_collision_44.obj",
              "bathtub_collision_45.obj",
              "bathtub_collision_46.obj",
              "bathtub_collision_47.obj",
              "bathtub_collision_48.obj",
              "bathtub_collision_49.obj",
              "bathtub_collision_50.obj",
              "bathtub_collision_51.obj",
              "bathtub_collision_52.obj",
              "bathtub_collision_53.obj",
              "bathtub_collision_54.obj",
              "bathtub_collision_55.obj",
              "bathtub_collision_56.obj",
              "bathtub_collision_57.obj",
              "bathtub_collision_58.obj",
              "bathtub_collision_59.obj",
              "bathtub_collision_60.obj",
              "bathtub_collision_61.obj",
              "bathtub_collision_62.obj",
              "bathtub_collision_63.obj",
              "bathtub_collision_64.obj",
              "bathtub_collision_65.obj",
              "bathtub_collision_66.obj",
              "bathtub_collision_67.obj",
              "bathtub_collision_68.obj",
              "bathtub_collision_69.obj",
              "bathtub_collision_70.obj",
              "bathtub_collision_71.obj",
              "bathtub_collision_72.obj",
              "bathtub_collision_73.obj",
              "bathtub_collision_74.obj",
              "bathtub_collision_75.obj",
              "bathtub_collision_76.obj",
              "bathtub_collision_77.obj",
              "bathtub_collision_78.obj",
              "bathtub_collision_79.obj",
              "bathtub_collision_80.obj",
              "bathtub_collision_81.obj",
              "bathtub_collision_82.obj",
              "bathtub_collision_83.obj",
              "bathtub_collision_84.obj",
              "bathtub_collision_85.obj",
              "bathtub_collision_86.obj",
              "bathtub_collision_87.obj",
              "bathtub_collision_88.obj",
              "bathtub_collision_89.obj",
              "bathtub_collision_90.obj",
              "bathtub_collision_91.obj",
              "bathtub_collision_92.obj",
              "bathtub_collision_93.obj",
              "bathtub_collision_94.obj",
              "bathtub_collision_95.obj",
              "bathtub_collision_96.obj",
              "bathtub_collision_97.obj",
              "bathtub_collision_98.obj",
              "bathtub_collision_99.obj",
              "bathtub_collision_100.obj",
              "bathtub_collision_101.obj",
              "bathtub_collision_102.obj",
              "bathtub_collision_103.obj",
              "bathtub_collision_104.obj",
              "bathtub_collision_105.obj",
              "bathtub_collision_106.obj",
              "bathtub_collision_107.obj",
              "bathtub_collision_108.obj",
              "bathtub_collision_109.obj",
              "bathtub_collision_110.obj",
              "bathtub_collision_111.obj",
              "bathtub_collision_112.obj",
              "bathtub_collision_113.obj",
              "bathtub_collision_114.obj",
              "bathtub_collision_115.obj",
              "bathtub_collision_116.obj",
              "bathtub_collision_117.obj",
              "bathtub_collision_118.obj",
              "bathtub_collision_119.obj",
              "bathtub_collision_120.obj",
              "bathtub_collision_121.obj",
              "bathtub_collision_122.obj",
              "bathtub_collision_123.obj",
              "bathtub_collision_124.obj",
              "bathtub_collision_125.obj",
              "bathtub_collision_126.obj",
              "bathtub_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "bathtub_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bathtub_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "bathtub.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "bathtub.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "shelving_unit_0",
      "room_id": "bathroom",
      "name": "shelving_unit",
      "description": "stylish open bathroom shelving unit in light wood and white metal",
      "object_type": "furniture",
      "transform": {
        "translation": [
          1.376363711642735,
          0.11658220272538958,
          -0.000340161815298185
        ],
        "rotation_wxyz": [
          0.7071064631479028,
          -0.0006767636171463864,
          -0.00026769678034094523,
          0.7071067246914738
        ]
      },
      "bbox_min": [
        -0.30000001192092896,
        -0.16363638639450073,
        0.0
      ],
      "bbox_max": [
        0.29999998211860657,
        0.16363638639450073,
        1.0909091234207153
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/shelving_unit_1777530120413/shelving_unit.glb",
      "sdf_path": "generated_assets/furniture/sdf/shelving_unit_1777530120413/shelving_unit.sdf",
      "image_path": "generated_assets/furniture/images/shelving_unit_1777530120413.png",
      "support_surfaces": [
        {
          "surface_id": "S_0",
          "bounding_box_min": [
            -0.2765433192253113,
            -0.16199785470962524,
            0.01
          ],
          "bounding_box_max": [
            0.2765433192253113,
            0.16199785470962524,
            0.2563636302947998
          ],
          "transform": {
            "translation": [
              1.3753996032368672,
              0.11699977275956944,
              0.7214772917702426
            ],
            "rotation_wxyz": [
              0.7071064631479028,
              -0.0006767636171463864,
              -0.00026769678034094523,
              0.7071067246914738
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.2749091016813575,
                -0.1603636429419384,
                -0.010000000000000009
              ],
              [
                -0.2765433120294868,
                -0.1603636429419384,
                -0.010000000000000009
              ],
              [
                -0.2749091016813575,
                -0.16199785329006766,
                -0.010000000000000009
              ],
              [
                -0.27647414083922495,
                -0.1619287119021282,
                -0.010000000000000009
              ],
              [
                -0.2749091016813575,
                0.16036364578105355,
                -0.010000000000000009
              ],
              [
                -0.2749091016813575,
                0.16199785612918283,
                -0.010000000000000009
              ],
              [
                -0.2765433120294868,
                0.16036364578105355,
                -0.010000000000000009
              ],
              [
                -0.27647414083922495,
                0.16192871474124337,
                -0.010000000000000009
              ],
              [
                0.2749091160730065,
                -0.1603636429419384,
                -0.010000000000000009
              ],
              [
                0.2749091160730065,
                -0.16199785329006766,
                -0.010000000000000009
              ],
              [
                0.27654332642113577,
                -0.1603636429419384,
                -0.010000000000000009
              ],
              [
                0.27647415523087393,
                -0.1619287119021282,
                -0.010000000000000009
              ],
              [
                0.2749091160730065,
                0.16036364578105355,
                -0.010000000000000009
              ],
              [
                0.2765432966188134,
                0.16036364578105355,
                -0.010000000000000009
              ],
              [
                0.2749090862706841,
                0.16199785612918283,
                -0.010000000000000009
              ],
              [
                0.27647412542855154,
                0.16192871474124337,
                -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_1",
          "bounding_box_min": [
            -0.2765433192253113,
            -0.16199785470962524,
            0.01
          ],
          "bounding_box_max": [
            0.2765433192253113,
            0.16199785470962524,
            0.2563636302947998
          ],
          "transform": {
            "translation": [
              1.3761572915586553,
              0.1166716012356383,
              0.15420514018217304
            ],
            "rotation_wxyz": [
              0.7071064631479028,
              -0.0006767636171463864,
              -0.00026769678034094523,
              0.7071067246914738
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.27490910168132454,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                -0.2765433120294538,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                -0.1619978532900612,
                -0.010000000000000009
              ],
              [
                -0.276474140839192,
                -0.16192871190212174,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                0.1619978561291893,
                -0.010000000000000009
              ],
              [
                -0.2765433120294538,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                -0.276474140839192,
                0.16192871474124984,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                -0.1619978532900612,
                -0.010000000000000009
              ],
              [
                0.27654332642116874,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                0.2764741552309069,
                -0.16192871190212174,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                0.27654329661884636,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                0.2749090862707171,
                0.1619978561291893,
                -0.010000000000000009
              ],
              [
                0.2764741254285845,
                0.16192871474124984,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                4,
                5,
                7
              ],
              [
                0,
                1,
                3
              ],
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ],
              [
                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
              ],
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ]
            ]
          }
        },
        {
          "surface_id": "S_2",
          "bounding_box_min": [
            -0.2765433192253113,
            -0.16199785470962524,
            0.01
          ],
          "bounding_box_max": [
            0.2765433192253113,
            0.16199785470962524,
            0.2563636898994446
          ],
          "transform": {
            "translation": [
              1.3757784474176675,
              0.11683568698896696,
              0.4378412010750624
            ],
            "rotation_wxyz": [
              0.7071064631479028,
              -0.0006767636171463864,
              -0.00026769678034094523,
              0.7071067246914738
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.27490910168132454,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                -0.2765433120294538,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                -0.1619978532900612,
                -0.010000000000000009
              ],
              [
                -0.276474140839192,
                -0.16192871190212174,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                -0.27490910168132454,
                0.1619978561291893,
                -0.010000000000000009
              ],
              [
                -0.2765433120294538,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                -0.276474140839192,
                0.16192871474124984,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                -0.1619978532900612,
                -0.010000000000000009
              ],
              [
                0.27654332642116874,
                -0.16036364294193192,
                -0.010000000000000009
              ],
              [
                0.2764741552309069,
                -0.16192871190212174,
                -0.010000000000000009
              ],
              [
                0.2749091160730395,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                0.27654329661884636,
                0.16036364578106002,
                -0.010000000000000009
              ],
              [
                0.2749090862707171,
                0.1619978561291893,
                -0.010000000000000009
              ],
              [
                0.2764741254285845,
                0.16192871474124984,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ],
              [
                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
              ]
            ]
          }
        },
        {
          "surface_id": "S_3",
          "bounding_box_min": [
            -0.2765433192253113,
            -0.16199785470962524,
            0.01
          ],
          "bounding_box_max": [
            0.2765433192253113,
            0.16199785470962524,
            0.5
          ],
          "transform": {
            "translation": [
              1.3750207591356984,
              0.11716385849559123,
              1.0051133228608413
            ],
            "rotation_wxyz": [
              0.7071064631479028,
              -0.0006767636171463864,
              -0.00026769678034094523,
              0.7071067246914738
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.27490910168129157,
                -0.16036364294192545,
                -0.010000000000000009
              ],
              [
                -0.27654331202942084,
                -0.16036364294192545,
                -0.010000000000000009
              ],
              [
                -0.27490910168129157,
                -0.16199785329005473,
                -0.010000000000000009
              ],
              [
                -0.276474140839159,
                -0.16192871190211527,
                -0.010000000000000009
              ],
              [
                -0.27490910168129157,
                0.1603636457810665,
                -0.010000000000000009
              ],
              [
                -0.27490910168129157,
                0.16199785612919576,
                -0.010000000000000009
              ],
              [
                -0.27654331202942084,
                0.1603636457810665,
                -0.010000000000000009
              ],
              [
                -0.276474140839159,
                0.1619287147412563,
                -0.010000000000000009
              ],
              [
                0.27490911607307245,
                -0.16036364294192545,
                -0.010000000000000009
              ],
              [
                0.27490911607307245,
                -0.16199785329005473,
                -0.010000000000000009
              ],
              [
                0.2765433264212017,
                -0.16036364294192545,
                -0.010000000000000009
              ],
              [
                0.2764741552309399,
                -0.16192871190211527,
                -0.010000000000000009
              ],
              [
                0.27490911607307245,
                0.1603636457810665,
                -0.010000000000000009
              ],
              [
                0.27654329661887933,
                0.1603636457810665,
                -0.010000000000000009
              ],
              [
                0.27490908627075006,
                0.16199785612919576,
                -0.010000000000000009
              ],
              [
                0.2764741254286175,
                0.1619287147412563,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                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
              ],
              [
                12,
                8,
                10
              ],
              [
                12,
                10,
                13
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/furniture/sdf/shelving_unit_1777530120413/shelving_unit.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/furniture/sdf/shelving_unit_1777530120413/shelving_unit.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 8.5,
            "inertia_pose": [
              -0.0,
              0.0,
              0.555103,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.9782117,
              "ixy": -2.969295e-10,
              "ixz": -1.713379e-09,
              "iyy": 1.167453,
              "iyz": 9.090008e-11,
              "izz": 0.3622519
            },
            "collision_meshes": [
              "shelving_unit_collision_0.obj",
              "shelving_unit_collision_1.obj",
              "shelving_unit_collision_2.obj",
              "shelving_unit_collision_3.obj",
              "shelving_unit_collision_4.obj",
              "shelving_unit_collision_5.obj",
              "shelving_unit_collision_6.obj",
              "shelving_unit_collision_7.obj",
              "shelving_unit_collision_8.obj",
              "shelving_unit_collision_9.obj",
              "shelving_unit_collision_10.obj",
              "shelving_unit_collision_11.obj",
              "shelving_unit_collision_12.obj",
              "shelving_unit_collision_13.obj",
              "shelving_unit_collision_14.obj",
              "shelving_unit_collision_15.obj",
              "shelving_unit_collision_16.obj",
              "shelving_unit_collision_17.obj",
              "shelving_unit_collision_18.obj",
              "shelving_unit_collision_19.obj",
              "shelving_unit_collision_20.obj",
              "shelving_unit_collision_21.obj",
              "shelving_unit_collision_22.obj",
              "shelving_unit_collision_23.obj",
              "shelving_unit_collision_24.obj",
              "shelving_unit_collision_25.obj",
              "shelving_unit_collision_26.obj",
              "shelving_unit_collision_27.obj",
              "shelving_unit_collision_28.obj",
              "shelving_unit_collision_29.obj",
              "shelving_unit_collision_30.obj",
              "shelving_unit_collision_31.obj",
              "shelving_unit_collision_32.obj",
              "shelving_unit_collision_33.obj",
              "shelving_unit_collision_34.obj",
              "shelving_unit_collision_35.obj",
              "shelving_unit_collision_36.obj",
              "shelving_unit_collision_37.obj",
              "shelving_unit_collision_38.obj",
              "shelving_unit_collision_39.obj",
              "shelving_unit_collision_40.obj",
              "shelving_unit_collision_41.obj",
              "shelving_unit_collision_42.obj",
              "shelving_unit_collision_43.obj",
              "shelving_unit_collision_44.obj",
              "shelving_unit_collision_45.obj",
              "shelving_unit_collision_46.obj",
              "shelving_unit_collision_47.obj",
              "shelving_unit_collision_48.obj",
              "shelving_unit_collision_49.obj",
              "shelving_unit_collision_50.obj",
              "shelving_unit_collision_51.obj",
              "shelving_unit_collision_52.obj",
              "shelving_unit_collision_53.obj",
              "shelving_unit_collision_54.obj",
              "shelving_unit_collision_55.obj",
              "shelving_unit_collision_56.obj",
              "shelving_unit_collision_57.obj",
              "shelving_unit_collision_58.obj",
              "shelving_unit_collision_59.obj",
              "shelving_unit_collision_60.obj",
              "shelving_unit_collision_61.obj",
              "shelving_unit_collision_62.obj",
              "shelving_unit_collision_63.obj",
              "shelving_unit_collision_64.obj",
              "shelving_unit_collision_65.obj",
              "shelving_unit_collision_66.obj",
              "shelving_unit_collision_67.obj",
              "shelving_unit_collision_68.obj",
              "shelving_unit_collision_69.obj",
              "shelving_unit_collision_70.obj",
              "shelving_unit_collision_71.obj",
              "shelving_unit_collision_72.obj",
              "shelving_unit_collision_73.obj",
              "shelving_unit_collision_74.obj",
              "shelving_unit_collision_75.obj",
              "shelving_unit_collision_76.obj",
              "shelving_unit_collision_77.obj",
              "shelving_unit_collision_78.obj",
              "shelving_unit_collision_79.obj",
              "shelving_unit_collision_80.obj",
              "shelving_unit_collision_81.obj",
              "shelving_unit_collision_82.obj",
              "shelving_unit_collision_83.obj",
              "shelving_unit_collision_84.obj",
              "shelving_unit_collision_85.obj",
              "shelving_unit_collision_86.obj",
              "shelving_unit_collision_87.obj",
              "shelving_unit_collision_88.obj",
              "shelving_unit_collision_89.obj",
              "shelving_unit_collision_90.obj",
              "shelving_unit_collision_91.obj",
              "shelving_unit_collision_92.obj",
              "shelving_unit_collision_93.obj",
              "shelving_unit_collision_94.obj",
              "shelving_unit_collision_95.obj",
              "shelving_unit_collision_96.obj",
              "shelving_unit_collision_97.obj",
              "shelving_unit_collision_98.obj",
              "shelving_unit_collision_99.obj",
              "shelving_unit_collision_100.obj",
              "shelving_unit_collision_101.obj",
              "shelving_unit_collision_102.obj",
              "shelving_unit_collision_103.obj",
              "shelving_unit_collision_104.obj",
              "shelving_unit_collision_105.obj",
              "shelving_unit_collision_106.obj",
              "shelving_unit_collision_107.obj",
              "shelving_unit_collision_108.obj",
              "shelving_unit_collision_109.obj",
              "shelving_unit_collision_110.obj",
              "shelving_unit_collision_111.obj",
              "shelving_unit_collision_112.obj",
              "shelving_unit_collision_113.obj",
              "shelving_unit_collision_114.obj",
              "shelving_unit_collision_115.obj",
              "shelving_unit_collision_116.obj",
              "shelving_unit_collision_117.obj",
              "shelving_unit_collision_118.obj",
              "shelving_unit_collision_119.obj",
              "shelving_unit_collision_120.obj",
              "shelving_unit_collision_121.obj",
              "shelving_unit_collision_122.obj",
              "shelving_unit_collision_123.obj",
              "shelving_unit_collision_124.obj",
              "shelving_unit_collision_125.obj",
              "shelving_unit_collision_126.obj",
              "shelving_unit_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "shelving_unit_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "shelving_unit_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "shelving_unit.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "shelving_unit.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "toilet_0",
      "room_id": "bathroom",
      "name": "toilet",
      "description": "floor-mounted contemporary toilet with integrated tank",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.0012361185537623726,
          -1.0043148526508283,
          -0.0006167396645226862
        ],
        "rotation_wxyz": [
          0.9999963131482746,
          0.000501141935183852,
          -0.0024842486761406215,
          -0.0009752205563738086
        ]
      },
      "bbox_min": [
        -0.19999997317790985,
        -0.34634146094322205,
        0.0
      ],
      "bbox_max": [
        0.20000001788139343,
        0.34634146094322205,
        0.9658536314964294
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/toilet_1777542515808/toilet.glb",
      "sdf_path": "generated_assets/furniture/sdf/toilet_1777542515808/toilet.sdf",
      "image_path": "generated_assets/furniture/images/toilet_1777542515808.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/furniture/sdf/toilet_1777542515808/toilet.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/furniture/sdf/toilet_1777542515808/toilet.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 33.0,
            "inertia_pose": [
              0.0,
              -0.116468,
              0.419803,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 3.266413,
              "ixy": 3.800883e-08,
              "ixz": -6.365655e-08,
              "iyy": 2.785012,
              "iyz": 0.7930585,
              "izz": 1.182434
            },
            "collision_meshes": [
              "toilet_collision_0.obj",
              "toilet_collision_1.obj",
              "toilet_collision_2.obj",
              "toilet_collision_3.obj",
              "toilet_collision_4.obj",
              "toilet_collision_5.obj",
              "toilet_collision_6.obj",
              "toilet_collision_7.obj",
              "toilet_collision_8.obj",
              "toilet_collision_9.obj",
              "toilet_collision_10.obj",
              "toilet_collision_11.obj",
              "toilet_collision_12.obj",
              "toilet_collision_13.obj",
              "toilet_collision_14.obj",
              "toilet_collision_15.obj",
              "toilet_collision_16.obj",
              "toilet_collision_17.obj",
              "toilet_collision_18.obj",
              "toilet_collision_19.obj",
              "toilet_collision_20.obj",
              "toilet_collision_21.obj",
              "toilet_collision_22.obj",
              "toilet_collision_23.obj",
              "toilet_collision_24.obj",
              "toilet_collision_25.obj",
              "toilet_collision_26.obj",
              "toilet_collision_27.obj",
              "toilet_collision_28.obj",
              "toilet_collision_29.obj",
              "toilet_collision_30.obj",
              "toilet_collision_31.obj",
              "toilet_collision_32.obj",
              "toilet_collision_33.obj",
              "toilet_collision_34.obj",
              "toilet_collision_35.obj",
              "toilet_collision_36.obj",
              "toilet_collision_37.obj",
              "toilet_collision_38.obj",
              "toilet_collision_39.obj",
              "toilet_collision_40.obj",
              "toilet_collision_41.obj",
              "toilet_collision_42.obj",
              "toilet_collision_43.obj",
              "toilet_collision_44.obj",
              "toilet_collision_45.obj",
              "toilet_collision_46.obj",
              "toilet_collision_47.obj",
              "toilet_collision_48.obj",
              "toilet_collision_49.obj",
              "toilet_collision_50.obj",
              "toilet_collision_51.obj",
              "toilet_collision_52.obj",
              "toilet_collision_53.obj",
              "toilet_collision_54.obj",
              "toilet_collision_55.obj",
              "toilet_collision_56.obj",
              "toilet_collision_57.obj",
              "toilet_collision_58.obj",
              "toilet_collision_59.obj",
              "toilet_collision_60.obj",
              "toilet_collision_61.obj",
              "toilet_collision_62.obj",
              "toilet_collision_63.obj",
              "toilet_collision_64.obj",
              "toilet_collision_65.obj",
              "toilet_collision_66.obj",
              "toilet_collision_67.obj",
              "toilet_collision_68.obj",
              "toilet_collision_69.obj",
              "toilet_collision_70.obj",
              "toilet_collision_71.obj",
              "toilet_collision_72.obj",
              "toilet_collision_73.obj",
              "toilet_collision_74.obj",
              "toilet_collision_75.obj",
              "toilet_collision_76.obj",
              "toilet_collision_77.obj",
              "toilet_collision_78.obj",
              "toilet_collision_79.obj",
              "toilet_collision_80.obj",
              "toilet_collision_81.obj",
              "toilet_collision_82.obj",
              "toilet_collision_83.obj",
              "toilet_collision_84.obj",
              "toilet_collision_85.obj",
              "toilet_collision_86.obj",
              "toilet_collision_87.obj",
              "toilet_collision_88.obj",
              "toilet_collision_89.obj",
              "toilet_collision_90.obj",
              "toilet_collision_91.obj",
              "toilet_collision_92.obj",
              "toilet_collision_93.obj",
              "toilet_collision_94.obj",
              "toilet_collision_95.obj",
              "toilet_collision_96.obj",
              "toilet_collision_97.obj",
              "toilet_collision_98.obj",
              "toilet_collision_99.obj",
              "toilet_collision_100.obj",
              "toilet_collision_101.obj",
              "toilet_collision_102.obj",
              "toilet_collision_103.obj",
              "toilet_collision_104.obj",
              "toilet_collision_105.obj",
              "toilet_collision_106.obj",
              "toilet_collision_107.obj",
              "toilet_collision_108.obj",
              "toilet_collision_109.obj",
              "toilet_collision_110.obj",
              "toilet_collision_111.obj",
              "toilet_collision_112.obj",
              "toilet_collision_113.obj",
              "toilet_collision_114.obj",
              "toilet_collision_115.obj",
              "toilet_collision_116.obj",
              "toilet_collision_117.obj",
              "toilet_collision_118.obj",
              "toilet_collision_119.obj",
              "toilet_collision_120.obj",
              "toilet_collision_121.obj",
              "toilet_collision_122.obj",
              "toilet_collision_123.obj",
              "toilet_collision_124.obj",
              "toilet_collision_125.obj",
              "toilet_collision_126.obj",
              "toilet_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "toilet_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "toilet.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "toilet.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "laundry_hamper_0",
      "room_id": "bathroom",
      "name": "laundry_hamper",
      "description": "small floor-standing woven laundry hamper basket for bathroom",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.5006623516066677,
          -0.9237864578507882,
          -3.6841664986899295e-05
        ],
        "rotation_wxyz": [
          0.9999979360105992,
          9.977836394811653e-06,
          -3.825666315981412e-06,
          -0.002031713648305625
        ]
      },
      "bbox_min": [
        -0.15783584117889404,
        -0.22499999403953552,
        0.0
      ],
      "bbox_max": [
        0.15783584117889404,
        0.22499999403953552,
        0.6716417074203491
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/laundry_hamper_1777543490067/laundry_hamper.glb",
      "sdf_path": "generated_assets/furniture/sdf/laundry_hamper_1777543490067/laundry_hamper.sdf",
      "image_path": "generated_assets/furniture/images/laundry_hamper_1777543490067.png",
      "support_surfaces": [
        {
          "surface_id": "S_4",
          "bounding_box_min": [
            -0.15171321481466293,
            -0.218877375125885,
            0.01
          ],
          "bounding_box_max": [
            0.15171321481466293,
            0.218877375125885,
            0.5
          ],
          "transform": {
            "translation": [
              0.5006571121598759,
              -0.923800051647687,
              0.681604865599677
            ],
            "rotation_wxyz": [
              0.9999979360105992,
              9.977836394811653e-06,
              -3.825666315981412e-06,
              -0.002031713648305625
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.1477612144530203,
                0.2149253356451419,
                -0.010000000000000009
              ],
              [
                -0.1477611995518591,
                0.2187807130808261,
                -0.010000000000000009
              ],
              [
                -0.1516165918887045,
                0.2149253207439807,
                -0.010000000000000009
              ],
              [
                -0.1517132110178854,
                0.21887733221000702,
                -0.010000000000000009
              ],
              [
                0.1477611326396082,
                0.2149253803486255,
                -0.010000000000000009
              ],
              [
                0.1516165100752924,
                0.2149253654474643,
                -0.010000000000000009
              ],
              [
                0.147761117738447,
                0.2187807577843097,
                -0.010000000000000009
              ],
              [
                0.1517131292044733,
                0.2188773769134906,
                -0.010000000000000009
              ],
              [
                -0.14776113994721432,
                -0.2149253767734143,
                -0.010000000000000009
              ],
              [
                -0.15161651738289852,
                -0.2149253618722531,
                -0.010000000000000009
              ],
              [
                -0.14776112504605313,
                -0.2187807542090985,
                -0.010000000000000009
              ],
              [
                -0.15171313651207943,
                -0.21887737333827942,
                -0.010000000000000009
              ],
              [
                0.14776120714541416,
                -0.21492533206993072,
                -0.010000000000000009
              ],
              [
                0.14776120714541416,
                -0.21878070950561493,
                -0.010000000000000009
              ],
              [
                0.15161659948225956,
                -0.21492531716876953,
                -0.010000000000000009
              ],
              [
                0.15171321861144046,
                -0.21887732863479584,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ],
              [
                12,
                4,
                0
              ],
              [
                12,
                0,
                8
              ],
              [
                8,
                11,
                10
              ],
              [
                8,
                9,
                11
              ],
              [
                12,
                8,
                10
              ],
              [
                0,
                3,
                2
              ],
              [
                12,
                10,
                13
              ],
              [
                0,
                1,
                3
              ],
              [
                4,
                12,
                14
              ],
              [
                4,
                7,
                6
              ],
              [
                4,
                14,
                5
              ],
              [
                12,
                15,
                14
              ],
              [
                12,
                13,
                15
              ],
              [
                4,
                5,
                7
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ]
            ]
          }
        },
        {
          "surface_id": "S_5",
          "bounding_box_min": [
            -0.1376865804195404,
            -0.20485074818134308,
            0.01
          ],
          "bounding_box_max": [
            0.1376865804195404,
            0.20485074818134308,
            0.6179103450849652
          ],
          "transform": {
            "translation": [
              0.5006621713645121,
              -0.9237869251036559,
              0.02339599914633799
            ],
            "rotation_wxyz": [
              0.9999979360105992,
              9.977836394811653e-06,
              -3.825666315981412e-06,
              -0.002031713648305625
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.1376865804195404,
                0.2048507034778595,
                -0.010000000000000002
              ],
              [
                0.13768650591373444,
                0.20485074818134308,
                -0.010000000000000002
              ],
              [
                -0.13768650591373444,
                -0.20485074818134308,
                -0.010000000000000002
              ],
              [
                0.1376865804195404,
                -0.2048507034778595,
                -0.010000000000000002
              ]
            ],
            "faces": [
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/furniture/sdf/laundry_hamper_1777543490067/laundry_hamper.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/furniture/sdf/laundry_hamper_1777543490067/laundry_hamper.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              -1.7e-05,
              -0.00011,
              0.390012,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.142169,
              "ixy": -6.634159e-06,
              "ixz": 4.413507e-06,
              "iyy": 0.1231997,
              "iyz": 2.912993e-05,
              "izz": 0.06381893
            },
            "collision_meshes": [
              "laundry_hamper_collision_0.obj",
              "laundry_hamper_collision_1.obj",
              "laundry_hamper_collision_2.obj",
              "laundry_hamper_collision_3.obj",
              "laundry_hamper_collision_4.obj",
              "laundry_hamper_collision_5.obj",
              "laundry_hamper_collision_6.obj",
              "laundry_hamper_collision_7.obj",
              "laundry_hamper_collision_8.obj",
              "laundry_hamper_collision_9.obj",
              "laundry_hamper_collision_10.obj",
              "laundry_hamper_collision_11.obj",
              "laundry_hamper_collision_12.obj",
              "laundry_hamper_collision_13.obj",
              "laundry_hamper_collision_14.obj",
              "laundry_hamper_collision_15.obj",
              "laundry_hamper_collision_16.obj",
              "laundry_hamper_collision_17.obj",
              "laundry_hamper_collision_18.obj",
              "laundry_hamper_collision_19.obj",
              "laundry_hamper_collision_20.obj",
              "laundry_hamper_collision_21.obj",
              "laundry_hamper_collision_22.obj",
              "laundry_hamper_collision_23.obj",
              "laundry_hamper_collision_24.obj",
              "laundry_hamper_collision_25.obj",
              "laundry_hamper_collision_26.obj",
              "laundry_hamper_collision_27.obj",
              "laundry_hamper_collision_28.obj",
              "laundry_hamper_collision_29.obj",
              "laundry_hamper_collision_30.obj",
              "laundry_hamper_collision_31.obj",
              "laundry_hamper_collision_32.obj",
              "laundry_hamper_collision_33.obj",
              "laundry_hamper_collision_34.obj",
              "laundry_hamper_collision_35.obj",
              "laundry_hamper_collision_36.obj",
              "laundry_hamper_collision_37.obj",
              "laundry_hamper_collision_38.obj",
              "laundry_hamper_collision_39.obj",
              "laundry_hamper_collision_40.obj",
              "laundry_hamper_collision_41.obj",
              "laundry_hamper_collision_42.obj",
              "laundry_hamper_collision_43.obj",
              "laundry_hamper_collision_44.obj",
              "laundry_hamper_collision_45.obj",
              "laundry_hamper_collision_46.obj",
              "laundry_hamper_collision_47.obj",
              "laundry_hamper_collision_48.obj",
              "laundry_hamper_collision_49.obj",
              "laundry_hamper_collision_50.obj",
              "laundry_hamper_collision_51.obj",
              "laundry_hamper_collision_52.obj",
              "laundry_hamper_collision_53.obj",
              "laundry_hamper_collision_54.obj",
              "laundry_hamper_collision_55.obj",
              "laundry_hamper_collision_56.obj",
              "laundry_hamper_collision_57.obj",
              "laundry_hamper_collision_58.obj",
              "laundry_hamper_collision_59.obj",
              "laundry_hamper_collision_60.obj",
              "laundry_hamper_collision_61.obj",
              "laundry_hamper_collision_62.obj",
              "laundry_hamper_collision_63.obj",
              "laundry_hamper_collision_64.obj",
              "laundry_hamper_collision_65.obj",
              "laundry_hamper_collision_66.obj",
              "laundry_hamper_collision_67.obj",
              "laundry_hamper_collision_68.obj",
              "laundry_hamper_collision_69.obj",
              "laundry_hamper_collision_70.obj",
              "laundry_hamper_collision_71.obj",
              "laundry_hamper_collision_72.obj",
              "laundry_hamper_collision_73.obj",
              "laundry_hamper_collision_74.obj",
              "laundry_hamper_collision_75.obj",
              "laundry_hamper_collision_76.obj",
              "laundry_hamper_collision_77.obj",
              "laundry_hamper_collision_78.obj",
              "laundry_hamper_collision_79.obj",
              "laundry_hamper_collision_80.obj",
              "laundry_hamper_collision_81.obj",
              "laundry_hamper_collision_82.obj",
              "laundry_hamper_collision_83.obj",
              "laundry_hamper_collision_84.obj",
              "laundry_hamper_collision_85.obj",
              "laundry_hamper_collision_86.obj",
              "laundry_hamper_collision_87.obj",
              "laundry_hamper_collision_88.obj",
              "laundry_hamper_collision_89.obj",
              "laundry_hamper_collision_90.obj",
              "laundry_hamper_collision_91.obj",
              "laundry_hamper_collision_92.obj",
              "laundry_hamper_collision_93.obj",
              "laundry_hamper_collision_94.obj",
              "laundry_hamper_collision_95.obj",
              "laundry_hamper_collision_96.obj",
              "laundry_hamper_collision_97.obj",
              "laundry_hamper_collision_98.obj",
              "laundry_hamper_collision_99.obj",
              "laundry_hamper_collision_100.obj",
              "laundry_hamper_collision_101.obj",
              "laundry_hamper_collision_102.obj",
              "laundry_hamper_collision_103.obj",
              "laundry_hamper_collision_104.obj",
              "laundry_hamper_collision_105.obj",
              "laundry_hamper_collision_106.obj",
              "laundry_hamper_collision_107.obj",
              "laundry_hamper_collision_108.obj",
              "laundry_hamper_collision_109.obj",
              "laundry_hamper_collision_110.obj",
              "laundry_hamper_collision_111.obj",
              "laundry_hamper_collision_112.obj",
              "laundry_hamper_collision_113.obj",
              "laundry_hamper_collision_114.obj",
              "laundry_hamper_collision_115.obj",
              "laundry_hamper_collision_116.obj",
              "laundry_hamper_collision_117.obj",
              "laundry_hamper_collision_118.obj",
              "laundry_hamper_collision_119.obj",
              "laundry_hamper_collision_120.obj",
              "laundry_hamper_collision_121.obj",
              "laundry_hamper_collision_122.obj",
              "laundry_hamper_collision_123.obj",
              "laundry_hamper_collision_124.obj",
              "laundry_hamper_collision_125.obj",
              "laundry_hamper_collision_126.obj",
              "laundry_hamper_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "laundry_hamper_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "laundry_hamper_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "laundry_hamper.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "laundry_hamper.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "canvas_print_0",
      "room_id": "bathroom",
      "name": "canvas_print",
      "description": "abstract blue beige canvas print",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          1.55,
          0.00951578495421268,
          1.5634387345414513
        ],
        "rotation_wxyz": [
          0.7070625683051937,
          0.007907243619837464,
          -0.007907243619837464,
          0.7070625683051937
        ]
      },
      "bbox_min": [
        -0.30000001192092896,
        -2.5877142206809367e-08,
        -0.4000000059604645
      ],
      "bbox_max": [
        0.30000001192092896,
        0.03200002387166023,
        0.4000000059604645
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/canvas_print_1777546640757/canvas_print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/canvas_print_1777546640757/canvas_print.sdf",
      "image_path": "generated_assets/wall_mounted/images/canvas_print_1777546640757.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "bathroom_east",
        "position_2d": [
          1.3904842150457872,
          1.5634387345414513
        ],
        "rotation_2d": -0.022365528484015188,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/canvas_print_1777546640757/canvas_print.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/canvas_print_1777546640757/canvas_print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.7,
            "inertia_pose": [
              -0.0,
              0.015538,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.04028023,
              "ixy": -2.053966e-09,
              "ixz": -6.165103e-13,
              "iyy": 0.06340582,
              "iyz": -2.086192e-11,
              "izz": 0.02324105
            },
            "collision_meshes": [
              "canvas_print_collision_0.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "canvas_print_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "canvas_print.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "canvas_print.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "print_0",
      "room_id": "bathroom",
      "name": "print",
      "description": "small framed botanical print with light wood frame approximately 45cm wide",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -1.55,
          0.010953600005818354,
          1.5001633745985414
        ],
        "rotation_wxyz": [
          0.7071067665250768,
          0.00014399461965414404,
          0.00014399461965414407,
          -0.707106766525077
        ]
      },
      "bbox_min": [
        -0.22499999403953552,
        -1.9571773535176362e-08,
        -0.2812500298023224
      ],
      "bbox_max": [
        0.22499999403953552,
        0.022500019520521164,
        0.2812500298023224
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/print_1777545483283/print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/print_1777545483283/print.sdf",
      "image_path": "generated_assets/wall_mounted/images/print_1777545483283.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "bathroom_west",
        "position_2d": [
          1.4109536000058183,
          1.5001633745985414
        ],
        "rotation_2d": 0.000407278290862189,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/print_1777545483283/print.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/print_1777545483283/print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.9,
            "inertia_pose": [
              0.0,
              0.007593,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.02820603,
              "ixy": -1.677851e-09,
              "ixz": 3.575779e-11,
              "iyy": 0.046854,
              "iyz": 1.121324e-10,
              "izz": 0.01871972
            },
            "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": "towel_rack_0",
      "room_id": "bathroom",
      "name": "towel_rack",
      "description": "minimal wall mounted towel rack in brushed metal",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          0.68,
          -1.3499999999999999,
          1.02
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          -6.123233995736766e-17
        ]
      },
      "bbox_min": [
        -0.3499999940395355,
        -3.281255445131137e-08,
        -0.041999999433755875
      ],
      "bbox_max": [
        0.3499999940395355,
        0.10500001907348633,
        0.041999999433755875
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/towel_rack_1777544657389/towel_rack.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/towel_rack_1777544657389/towel_rack.sdf",
      "image_path": "generated_assets/wall_mounted/images/towel_rack_1777544657389.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "bathroom_south",
        "position_2d": [
          0.92,
          1.02
        ],
        "rotation_2d": 0.0,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/towel_rack_1777544657389/towel_rack.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/wall_mounted/sdf/towel_rack_1777544657389/towel_rack.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.9,
            "inertia_pose": [
              0.0,
              0.061481,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.001622042,
              "ixy": -4.777539e-09,
              "ixz": 1.68957e-12,
              "iyy": 0.05460409,
              "iyz": -5.964479e-12,
              "izz": 0.05593516
            },
            "collision_meshes": [
              "towel_rack_collision_0.obj",
              "towel_rack_collision_1.obj",
              "towel_rack_collision_2.obj",
              "towel_rack_collision_3.obj",
              "towel_rack_collision_4.obj",
              "towel_rack_collision_5.obj",
              "towel_rack_collision_6.obj",
              "towel_rack_collision_7.obj",
              "towel_rack_collision_8.obj",
              "towel_rack_collision_9.obj",
              "towel_rack_collision_10.obj",
              "towel_rack_collision_11.obj",
              "towel_rack_collision_12.obj",
              "towel_rack_collision_13.obj",
              "towel_rack_collision_14.obj",
              "towel_rack_collision_15.obj",
              "towel_rack_collision_16.obj",
              "towel_rack_collision_17.obj",
              "towel_rack_collision_18.obj",
              "towel_rack_collision_19.obj",
              "towel_rack_collision_20.obj",
              "towel_rack_collision_21.obj",
              "towel_rack_collision_22.obj",
              "towel_rack_collision_23.obj",
              "towel_rack_collision_24.obj",
              "towel_rack_collision_25.obj",
              "towel_rack_collision_26.obj",
              "towel_rack_collision_27.obj",
              "towel_rack_collision_28.obj",
              "towel_rack_collision_29.obj",
              "towel_rack_collision_30.obj",
              "towel_rack_collision_31.obj",
              "towel_rack_collision_32.obj",
              "towel_rack_collision_33.obj",
              "towel_rack_collision_34.obj",
              "towel_rack_collision_35.obj",
              "towel_rack_collision_36.obj",
              "towel_rack_collision_37.obj",
              "towel_rack_collision_38.obj",
              "towel_rack_collision_39.obj",
              "towel_rack_collision_40.obj",
              "towel_rack_collision_41.obj",
              "towel_rack_collision_42.obj",
              "towel_rack_collision_43.obj",
              "towel_rack_collision_44.obj",
              "towel_rack_collision_45.obj",
              "towel_rack_collision_46.obj",
              "towel_rack_collision_47.obj",
              "towel_rack_collision_48.obj",
              "towel_rack_collision_49.obj",
              "towel_rack_collision_50.obj",
              "towel_rack_collision_51.obj",
              "towel_rack_collision_52.obj",
              "towel_rack_collision_53.obj",
              "towel_rack_collision_54.obj",
              "towel_rack_collision_55.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "towel_rack_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "towel_rack_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "towel_rack.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "towel_rack.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "flush_mount_0",
      "room_id": "bathroom",
      "name": "flush_mount",
      "description": "Modern bathroom flush-mount ceiling light, white glass diffuser with brushed nickel trim, low-profile and moisture-safe appearance",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          -0.0015925145827845645,
          0.11338617991398986,
          2.7
        ],
        "rotation_wxyz": [
          0.9999106875806693,
          0.0,
          0.0,
          0.013364761948998034
        ]
      },
      "bbox_min": [
        -0.20999999344348907,
        -0.20999999344348907,
        -0.06719999760389328
      ],
      "bbox_max": [
        0.20999999344348907,
        0.20999999344348907,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/flush_mount_1777554716000/flush_mount.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/flush_mount_1777554716000/flush_mount.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/flush_mount_1777554716000.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/ceiling_mounted/sdf/flush_mount_1777554716000/flush_mount.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/ceiling_mounted/sdf/flush_mount_1777554716000/flush_mount.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              0.0,
              -0.0,
              -0.033766,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.01918088,
              "ixy": 1.603129e-13,
              "ixz": -4.926653e-14,
              "iyy": 0.01918088,
              "iyz": 3.646394e-14,
              "izz": 0.03707912
            },
            "collision_meshes": [
              "flush_mount_collision_0.obj",
              "flush_mount_collision_1.obj",
              "flush_mount_collision_2.obj",
              "flush_mount_collision_3.obj",
              "flush_mount_collision_4.obj",
              "flush_mount_collision_5.obj",
              "flush_mount_collision_6.obj",
              "flush_mount_collision_7.obj",
              "flush_mount_collision_8.obj",
              "flush_mount_collision_9.obj",
              "flush_mount_collision_10.obj",
              "flush_mount_collision_11.obj",
              "flush_mount_collision_12.obj",
              "flush_mount_collision_13.obj",
              "flush_mount_collision_14.obj",
              "flush_mount_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "flush_mount_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "flush_mount_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "flush_mount.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "flush_mount.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "ceiling_light_0",
      "room_id": "bathroom",
      "name": "ceiling_light",
      "description": "Small matching round bathroom ceiling light, white glass diffuser with brushed nickel trim, minimalist low-profile design",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          -0.041534094145985,
          0.7583548202459527,
          2.7
        ],
        "rotation_wxyz": [
          0.9999888993428786,
          0.0,
          0.0,
          -0.004711813983827309
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.10999999940395355,
        -0.037950001657009125
      ],
      "bbox_max": [
        0.10999999940395355,
        0.10999999940395355,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777555037262/ceiling_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777555037262/ceiling_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/ceiling_light_1777555037262.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_bathroom/generated_assets/ceiling_mounted/sdf/ceiling_light_1777555037262/ceiling_light.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/ceiling_mounted/sdf/ceiling_light_1777555037262/ceiling_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.5,
            "inertia_pose": [
              0.0,
              0.0,
              -0.023605,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.008148249,
              "ixy": -7.817025e-14,
              "ixz": -2.517241e-13,
              "iyy": 0.008148249,
              "iyz": -4.879293e-13,
              "izz": 0.01562671
            },
            "collision_meshes": [
              "ceiling_light_collision_0.obj",
              "ceiling_light_collision_1.obj",
              "ceiling_light_collision_2.obj",
              "ceiling_light_collision_3.obj",
              "ceiling_light_collision_4.obj",
              "ceiling_light_collision_5.obj",
              "ceiling_light_collision_6.obj",
              "ceiling_light_collision_7.obj",
              "ceiling_light_collision_8.obj",
              "ceiling_light_collision_9.obj",
              "ceiling_light_collision_10.obj",
              "ceiling_light_collision_11.obj",
              "ceiling_light_collision_12.obj",
              "ceiling_light_collision_13.obj",
              "ceiling_light_collision_14.obj",
              "ceiling_light_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "ceiling_light_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 1.1,
              "mu2": 1.1
            },
            "visual_meshes": [
              "ceiling_light.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "ceiling_light.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "bath_towel_0",
      "room_id": "bathroom",
      "name": "bath_towel",
      "description": "folded white bath towel",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.373529799631481,
          -0.003854723892285347,
          0.7115437206212994
        ],
        "rotation_wxyz": [
          0.7085699351173078,
          -0.0006776848186676733,
          -0.00026964687052493015,
          0.7056402164571589
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.07204999774694443,
        0.0
      ],
      "bbox_max": [
        0.10999999940395355,
        0.07204999774694443,
        0.05335000157356262
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.glb",
      "sdf_path": "generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.sdf",
      "image_path": "generated_assets/manipuland/images/bath_towel_1777556141162.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.12,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.55,
            "inertia_pose": [
              0.003867,
              0.0,
              0.02727,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.001005184,
              "ixy": -2.801091e-13,
              "ixz": 1.107555e-05,
              "iyy": 0.002106009,
              "iyz": -5.180819e-14,
              "izz": 0.002859642
            },
            "collision_meshes": [
              "bath_towel_collision_0.obj",
              "bath_towel_collision_1.obj",
              "bath_towel_collision_2.obj",
              "bath_towel_collision_3.obj",
              "bath_towel_collision_4.obj",
              "bath_towel_collision_5.obj",
              "bath_towel_collision_6.obj",
              "bath_towel_collision_7.obj",
              "bath_towel_collision_8.obj",
              "bath_towel_collision_9.obj",
              "bath_towel_collision_10.obj",
              "bath_towel_collision_11.obj",
              "bath_towel_collision_12.obj",
              "bath_towel_collision_13.obj",
              "bath_towel_collision_14.obj",
              "bath_towel_collision_15.obj",
              "bath_towel_collision_16.obj",
              "bath_towel_collision_17.obj",
              "bath_towel_collision_18.obj",
              "bath_towel_collision_19.obj",
              "bath_towel_collision_20.obj",
              "bath_towel_collision_21.obj",
              "bath_towel_collision_22.obj",
              "bath_towel_collision_23.obj",
              "bath_towel_collision_24.obj",
              "bath_towel_collision_25.obj",
              "bath_towel_collision_26.obj",
              "bath_towel_collision_27.obj",
              "bath_towel_collision_28.obj",
              "bath_towel_collision_29.obj",
              "bath_towel_collision_30.obj",
              "bath_towel_collision_31.obj",
              "bath_towel_collision_32.obj",
              "bath_towel_collision_33.obj",
              "bath_towel_collision_34.obj",
              "bath_towel_collision_35.obj",
              "bath_towel_collision_36.obj",
              "bath_towel_collision_37.obj",
              "bath_towel_collision_38.obj",
              "bath_towel_collision_39.obj",
              "bath_towel_collision_40.obj",
              "bath_towel_collision_41.obj",
              "bath_towel_collision_42.obj",
              "bath_towel_collision_43.obj",
              "bath_towel_collision_44.obj",
              "bath_towel_collision_45.obj",
              "bath_towel_collision_46.obj",
              "bath_towel_collision_47.obj",
              "bath_towel_collision_48.obj",
              "bath_towel_collision_49.obj",
              "bath_towel_collision_50.obj",
              "bath_towel_collision_51.obj",
              "bath_towel_collision_52.obj",
              "bath_towel_collision_53.obj",
              "bath_towel_collision_54.obj",
              "bath_towel_collision_55.obj",
              "bath_towel_collision_56.obj",
              "bath_towel_collision_57.obj",
              "bath_towel_collision_58.obj",
              "bath_towel_collision_59.obj",
              "bath_towel_collision_60.obj",
              "bath_towel_collision_61.obj",
              "bath_towel_collision_62.obj",
              "bath_towel_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "bath_towel_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "bath_towel.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "bath_towel.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "hand_towel_0",
      "room_id": "bathroom",
      "name": "hand_towel",
      "description": "folded beige hand towel",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3751553020425011,
          0.23744708419472693,
          0.7108619354676936
        ],
        "rotation_wxyz": [
          0.7072832951773945,
          0.0023455494760915327,
          -0.0032950639582071425,
          0.7069186525436808
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.07699999958276749,
        0.0
      ],
      "bbox_max": [
        0.10999999940395355,
        0.07699999958276749,
        0.052800003439188004
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/hand_towel_1777558063370/hand_towel.glb",
      "sdf_path": "generated_assets/manipuland/sdf/hand_towel_1777558063370/hand_towel.sdf",
      "image_path": "generated_assets/manipuland/images/hand_towel_1777558063370.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.12,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/hand_towel_1777558063370/hand_towel.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/hand_towel_1777558063370/hand_towel.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.12,
            "inertia_pose": [
              -0.002724,
              -0.0,
              0.026134,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0002580863,
              "ixy": 2.224295e-13,
              "ixz": 1.332529e-05,
              "iyy": 0.0004312623,
              "iyz": 1.554136e-13,
              "izz": 0.0006339553
            },
            "collision_meshes": [
              "hand_towel_collision_0.obj",
              "hand_towel_collision_1.obj",
              "hand_towel_collision_2.obj",
              "hand_towel_collision_3.obj",
              "hand_towel_collision_4.obj",
              "hand_towel_collision_5.obj",
              "hand_towel_collision_6.obj",
              "hand_towel_collision_7.obj",
              "hand_towel_collision_8.obj",
              "hand_towel_collision_9.obj",
              "hand_towel_collision_10.obj",
              "hand_towel_collision_11.obj",
              "hand_towel_collision_12.obj",
              "hand_towel_collision_13.obj",
              "hand_towel_collision_14.obj",
              "hand_towel_collision_15.obj",
              "hand_towel_collision_16.obj",
              "hand_towel_collision_17.obj",
              "hand_towel_collision_18.obj",
              "hand_towel_collision_19.obj",
              "hand_towel_collision_20.obj",
              "hand_towel_collision_21.obj",
              "hand_towel_collision_22.obj",
              "hand_towel_collision_23.obj",
              "hand_towel_collision_24.obj",
              "hand_towel_collision_25.obj",
              "hand_towel_collision_26.obj",
              "hand_towel_collision_27.obj",
              "hand_towel_collision_28.obj",
              "hand_towel_collision_29.obj",
              "hand_towel_collision_30.obj",
              "hand_towel_collision_31.obj",
              "hand_towel_collision_32.obj",
              "hand_towel_collision_33.obj",
              "hand_towel_collision_34.obj",
              "hand_towel_collision_35.obj",
              "hand_towel_collision_36.obj",
              "hand_towel_collision_37.obj",
              "hand_towel_collision_38.obj",
              "hand_towel_collision_39.obj",
              "hand_towel_collision_40.obj",
              "hand_towel_collision_41.obj",
              "hand_towel_collision_42.obj",
              "hand_towel_collision_43.obj",
              "hand_towel_collision_44.obj",
              "hand_towel_collision_45.obj",
              "hand_towel_collision_46.obj",
              "hand_towel_collision_47.obj",
              "hand_towel_collision_48.obj",
              "hand_towel_collision_49.obj",
              "hand_towel_collision_50.obj",
              "hand_towel_collision_51.obj",
              "hand_towel_collision_52.obj",
              "hand_towel_collision_53.obj",
              "hand_towel_collision_54.obj",
              "hand_towel_collision_55.obj",
              "hand_towel_collision_56.obj",
              "hand_towel_collision_57.obj",
              "hand_towel_collision_58.obj",
              "hand_towel_collision_59.obj",
              "hand_towel_collision_60.obj",
              "hand_towel_collision_61.obj",
              "hand_towel_collision_62.obj",
              "hand_towel_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "hand_towel_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "hand_towel_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "hand_towel.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "hand_towel.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "candle_0",
      "room_id": "bathroom",
      "name": "candle",
      "description": "small frosted glass candle",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3763949159549094,
          0.19728318781924722,
          0.9950440602409619
        ],
        "rotation_wxyz": [
          0.7070353766038985,
          -0.0017286633703468654,
          -0.0013212618357987239,
          0.7071748314389426
        ]
      },
      "bbox_min": [
        -0.04117646813392639,
        -0.04117646813392639,
        0.0
      ],
      "bbox_max": [
        0.04117646813392639,
        0.04117646813392639,
        0.07000000029802322
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "image_path": "generated_assets/manipuland/images/candle_1777557630799.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_3",
        "position_2d": [
          0.08,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.4,
            "inertia_pose": [
              0.0,
              -0.0,
              0.032821,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0003044752,
              "ixy": 9.379414e-16,
              "ixz": 3.310646e-21,
              "iyy": 0.0003044752,
              "iyz": -1.258076e-20,
              "izz": 0.0003475312
            },
            "collision_meshes": [
              "candle_collision_0.obj",
              "candle_collision_1.obj",
              "candle_collision_2.obj",
              "candle_collision_3.obj",
              "candle_collision_4.obj",
              "candle_collision_5.obj",
              "candle_collision_6.obj",
              "candle_collision_7.obj",
              "candle_collision_8.obj",
              "candle_collision_9.obj",
              "candle_collision_10.obj",
              "candle_collision_11.obj",
              "candle_collision_12.obj",
              "candle_collision_13.obj",
              "candle_collision_14.obj",
              "candle_collision_15.obj",
              "candle_collision_16.obj",
              "candle_collision_17.obj",
              "candle_collision_18.obj",
              "candle_collision_19.obj",
              "candle_collision_20.obj",
              "candle_collision_21.obj",
              "candle_collision_22.obj",
              "candle_collision_23.obj",
              "candle_collision_24.obj",
              "candle_collision_25.obj",
              "candle_collision_26.obj",
              "candle_collision_27.obj",
              "candle_collision_28.obj",
              "candle_collision_29.obj",
              "candle_collision_30.obj",
              "candle_collision_31.obj",
              "candle_collision_32.obj",
              "candle_collision_33.obj",
              "candle_collision_34.obj",
              "candle_collision_35.obj",
              "candle_collision_36.obj",
              "candle_collision_37.obj",
              "candle_collision_38.obj",
              "candle_collision_39.obj",
              "candle_collision_40.obj",
              "candle_collision_41.obj",
              "candle_collision_42.obj",
              "candle_collision_43.obj",
              "candle_collision_44.obj",
              "candle_collision_45.obj",
              "candle_collision_46.obj",
              "candle_collision_47.obj",
              "candle_collision_48.obj",
              "candle_collision_49.obj",
              "candle_collision_50.obj",
              "candle_collision_51.obj",
              "candle_collision_52.obj",
              "candle_collision_53.obj",
              "candle_collision_54.obj",
              "candle_collision_55.obj",
              "candle_collision_56.obj",
              "candle_collision_57.obj",
              "candle_collision_58.obj",
              "candle_collision_59.obj",
              "candle_collision_60.obj",
              "candle_collision_61.obj",
              "candle_collision_62.obj",
              "candle_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "candle_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "candle.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "candle.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "river_stone_decor_0",
      "room_id": "bathroom",
      "name": "river_stone_decor",
      "description": "smooth white river stone decor",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3736892360140631,
          0.06725323369999978,
          0.9946716084232555
        ],
        "rotation_wxyz": [
          0.7064868523144517,
          -7.447988138758155e-05,
          -0.0013544485974664854,
          0.7077248670412549
        ]
      },
      "bbox_min": [
        -0.04500000178813934,
        -0.025965213775634766,
        5.546924378152518e-11
      ],
      "bbox_max": [
        0.044999998062849045,
        0.025965213775634766,
        0.029458053410053253
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.glb",
      "sdf_path": "generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.sdf",
      "image_path": "generated_assets/manipuland/images/river_stone_decor_1777560639306.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_3",
        "position_2d": [
          -0.05,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.5,
            "inertia_pose": [
              -0.002279,
              0.005202,
              0.011327,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.000316957,
              "ixy": -6.508063e-05,
              "ixz": 2.308776e-05,
              "iyy": 0.001187863,
              "iyz": -1.493298e-05,
              "izz": 0.001261632
            },
            "collision_meshes": [
              "river_stone_decor_collision_0.obj",
              "river_stone_decor_collision_1.obj",
              "river_stone_decor_collision_2.obj",
              "river_stone_decor_collision_3.obj",
              "river_stone_decor_collision_4.obj",
              "river_stone_decor_collision_5.obj",
              "river_stone_decor_collision_6.obj",
              "river_stone_decor_collision_7.obj",
              "river_stone_decor_collision_8.obj",
              "river_stone_decor_collision_9.obj",
              "river_stone_decor_collision_10.obj",
              "river_stone_decor_collision_11.obj",
              "river_stone_decor_collision_12.obj",
              "river_stone_decor_collision_13.obj",
              "river_stone_decor_collision_14.obj",
              "river_stone_decor_collision_15.obj",
              "river_stone_decor_collision_16.obj",
              "river_stone_decor_collision_17.obj",
              "river_stone_decor_collision_18.obj",
              "river_stone_decor_collision_19.obj",
              "river_stone_decor_collision_20.obj",
              "river_stone_decor_collision_21.obj",
              "river_stone_decor_collision_22.obj",
              "river_stone_decor_collision_23.obj",
              "river_stone_decor_collision_24.obj",
              "river_stone_decor_collision_25.obj",
              "river_stone_decor_collision_26.obj",
              "river_stone_decor_collision_27.obj",
              "river_stone_decor_collision_28.obj",
              "river_stone_decor_collision_29.obj",
              "river_stone_decor_collision_30.obj",
              "river_stone_decor_collision_31.obj",
              "river_stone_decor_collision_32.obj",
              "river_stone_decor_collision_33.obj",
              "river_stone_decor_collision_34.obj",
              "river_stone_decor_collision_35.obj",
              "river_stone_decor_collision_36.obj",
              "river_stone_decor_collision_37.obj",
              "river_stone_decor_collision_38.obj",
              "river_stone_decor_collision_39.obj",
              "river_stone_decor_collision_40.obj",
              "river_stone_decor_collision_41.obj",
              "river_stone_decor_collision_42.obj",
              "river_stone_decor_collision_43.obj",
              "river_stone_decor_collision_44.obj",
              "river_stone_decor_collision_45.obj",
              "river_stone_decor_collision_46.obj",
              "river_stone_decor_collision_47.obj",
              "river_stone_decor_collision_48.obj",
              "river_stone_decor_collision_49.obj",
              "river_stone_decor_collision_50.obj",
              "river_stone_decor_collision_51.obj",
              "river_stone_decor_collision_52.obj",
              "river_stone_decor_collision_53.obj",
              "river_stone_decor_collision_54.obj",
              "river_stone_decor_collision_55.obj",
              "river_stone_decor_collision_56.obj",
              "river_stone_decor_collision_57.obj",
              "river_stone_decor_collision_58.obj",
              "river_stone_decor_collision_59.obj",
              "river_stone_decor_collision_60.obj",
              "river_stone_decor_collision_61.obj",
              "river_stone_decor_collision_62.obj",
              "river_stone_decor_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "river_stone_decor_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.9,
              "mu2": 0.9
            },
            "visual_meshes": [
              "river_stone_decor.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "river_stone_decor.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "bath_towel_1",
      "room_id": "bathroom",
      "name": "bath_towel",
      "description": "folded white bath towel",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3764271129303904,
          0.01682451626456603,
          0.4278988880954131
        ],
        "rotation_wxyz": [
          0.7080077549531403,
          -0.0006750303852763,
          -0.00026900678521378914,
          0.7062042841101591
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.07204999774694443,
        0.0
      ],
      "bbox_max": [
        0.10999999940395355,
        0.07204999774694443,
        0.05335000157356262
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.glb",
      "sdf_path": "generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.sdf",
      "image_path": "generated_assets/manipuland/images/bath_towel_1777556141162.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_2",
        "position_2d": [
          -0.1,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/bath_towel_1777556141162/bath_towel.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.55,
            "inertia_pose": [
              0.003867,
              0.0,
              0.02727,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.001005184,
              "ixy": -2.801091e-13,
              "ixz": 1.107555e-05,
              "iyy": 0.002106009,
              "iyz": -5.180819e-14,
              "izz": 0.002859642
            },
            "collision_meshes": [
              "bath_towel_collision_0.obj",
              "bath_towel_collision_1.obj",
              "bath_towel_collision_2.obj",
              "bath_towel_collision_3.obj",
              "bath_towel_collision_4.obj",
              "bath_towel_collision_5.obj",
              "bath_towel_collision_6.obj",
              "bath_towel_collision_7.obj",
              "bath_towel_collision_8.obj",
              "bath_towel_collision_9.obj",
              "bath_towel_collision_10.obj",
              "bath_towel_collision_11.obj",
              "bath_towel_collision_12.obj",
              "bath_towel_collision_13.obj",
              "bath_towel_collision_14.obj",
              "bath_towel_collision_15.obj",
              "bath_towel_collision_16.obj",
              "bath_towel_collision_17.obj",
              "bath_towel_collision_18.obj",
              "bath_towel_collision_19.obj",
              "bath_towel_collision_20.obj",
              "bath_towel_collision_21.obj",
              "bath_towel_collision_22.obj",
              "bath_towel_collision_23.obj",
              "bath_towel_collision_24.obj",
              "bath_towel_collision_25.obj",
              "bath_towel_collision_26.obj",
              "bath_towel_collision_27.obj",
              "bath_towel_collision_28.obj",
              "bath_towel_collision_29.obj",
              "bath_towel_collision_30.obj",
              "bath_towel_collision_31.obj",
              "bath_towel_collision_32.obj",
              "bath_towel_collision_33.obj",
              "bath_towel_collision_34.obj",
              "bath_towel_collision_35.obj",
              "bath_towel_collision_36.obj",
              "bath_towel_collision_37.obj",
              "bath_towel_collision_38.obj",
              "bath_towel_collision_39.obj",
              "bath_towel_collision_40.obj",
              "bath_towel_collision_41.obj",
              "bath_towel_collision_42.obj",
              "bath_towel_collision_43.obj",
              "bath_towel_collision_44.obj",
              "bath_towel_collision_45.obj",
              "bath_towel_collision_46.obj",
              "bath_towel_collision_47.obj",
              "bath_towel_collision_48.obj",
              "bath_towel_collision_49.obj",
              "bath_towel_collision_50.obj",
              "bath_towel_collision_51.obj",
              "bath_towel_collision_52.obj",
              "bath_towel_collision_53.obj",
              "bath_towel_collision_54.obj",
              "bath_towel_collision_55.obj",
              "bath_towel_collision_56.obj",
              "bath_towel_collision_57.obj",
              "bath_towel_collision_58.obj",
              "bath_towel_collision_59.obj",
              "bath_towel_collision_60.obj",
              "bath_towel_collision_61.obj",
              "bath_towel_collision_62.obj",
              "bath_towel_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "bath_towel_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "bath_towel_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "bath_towel.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "bath_towel.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "candle_1",
      "room_id": "bathroom",
      "name": "candle",
      "description": "small frosted glass candle",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.375153110987464,
          0.2171781085600935,
          0.4277560803583375
        ],
        "rotation_wxyz": [
          0.7068934255088672,
          -0.001573343725714044,
          -0.001165472184775996,
          0.7073173624593467
        ]
      },
      "bbox_min": [
        -0.04117646813392639,
        -0.04117646813392639,
        0.0
      ],
      "bbox_max": [
        0.04117646813392639,
        0.04117646813392639,
        0.07000000029802322
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "image_path": "generated_assets/manipuland/images/candle_1777557630799.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_2",
        "position_2d": [
          0.1,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.4,
            "inertia_pose": [
              0.0,
              -0.0,
              0.032821,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0003044752,
              "ixy": 9.379414e-16,
              "ixz": 3.310646e-21,
              "iyy": 0.0003044752,
              "iyz": -1.258076e-20,
              "izz": 0.0003475312
            },
            "collision_meshes": [
              "candle_collision_0.obj",
              "candle_collision_1.obj",
              "candle_collision_2.obj",
              "candle_collision_3.obj",
              "candle_collision_4.obj",
              "candle_collision_5.obj",
              "candle_collision_6.obj",
              "candle_collision_7.obj",
              "candle_collision_8.obj",
              "candle_collision_9.obj",
              "candle_collision_10.obj",
              "candle_collision_11.obj",
              "candle_collision_12.obj",
              "candle_collision_13.obj",
              "candle_collision_14.obj",
              "candle_collision_15.obj",
              "candle_collision_16.obj",
              "candle_collision_17.obj",
              "candle_collision_18.obj",
              "candle_collision_19.obj",
              "candle_collision_20.obj",
              "candle_collision_21.obj",
              "candle_collision_22.obj",
              "candle_collision_23.obj",
              "candle_collision_24.obj",
              "candle_collision_25.obj",
              "candle_collision_26.obj",
              "candle_collision_27.obj",
              "candle_collision_28.obj",
              "candle_collision_29.obj",
              "candle_collision_30.obj",
              "candle_collision_31.obj",
              "candle_collision_32.obj",
              "candle_collision_33.obj",
              "candle_collision_34.obj",
              "candle_collision_35.obj",
              "candle_collision_36.obj",
              "candle_collision_37.obj",
              "candle_collision_38.obj",
              "candle_collision_39.obj",
              "candle_collision_40.obj",
              "candle_collision_41.obj",
              "candle_collision_42.obj",
              "candle_collision_43.obj",
              "candle_collision_44.obj",
              "candle_collision_45.obj",
              "candle_collision_46.obj",
              "candle_collision_47.obj",
              "candle_collision_48.obj",
              "candle_collision_49.obj",
              "candle_collision_50.obj",
              "candle_collision_51.obj",
              "candle_collision_52.obj",
              "candle_collision_53.obj",
              "candle_collision_54.obj",
              "candle_collision_55.obj",
              "candle_collision_56.obj",
              "candle_collision_57.obj",
              "candle_collision_58.obj",
              "candle_collision_59.obj",
              "candle_collision_60.obj",
              "candle_collision_61.obj",
              "candle_collision_62.obj",
              "candle_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "candle_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "candle.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "candle.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "river_stone_decor_1",
      "room_id": "bathroom",
      "name": "river_stone_decor",
      "description": "smooth white river stone decor",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3761645931824273,
          0.11465624289866153,
          0.1437435738850565
        ],
        "rotation_wxyz": [
          0.7076257235216155,
          0.00015176118561987948,
          -0.0011181162381226374,
          0.7065865567608337
        ]
      },
      "bbox_min": [
        -0.04500000178813934,
        -0.025965213775634766,
        5.546924378152518e-11
      ],
      "bbox_max": [
        0.044999998062849045,
        0.025965213775634766,
        0.029458053410053253
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.glb",
      "sdf_path": "generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.sdf",
      "image_path": "generated_assets/manipuland/images/river_stone_decor_1777560639306.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.0,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/river_stone_decor_1777560639306/river_stone_decor.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.5,
            "inertia_pose": [
              -0.002279,
              0.005202,
              0.011327,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.000316957,
              "ixy": -6.508063e-05,
              "ixz": 2.308776e-05,
              "iyy": 0.001187863,
              "iyz": -1.493298e-05,
              "izz": 0.001261632
            },
            "collision_meshes": [
              "river_stone_decor_collision_0.obj",
              "river_stone_decor_collision_1.obj",
              "river_stone_decor_collision_2.obj",
              "river_stone_decor_collision_3.obj",
              "river_stone_decor_collision_4.obj",
              "river_stone_decor_collision_5.obj",
              "river_stone_decor_collision_6.obj",
              "river_stone_decor_collision_7.obj",
              "river_stone_decor_collision_8.obj",
              "river_stone_decor_collision_9.obj",
              "river_stone_decor_collision_10.obj",
              "river_stone_decor_collision_11.obj",
              "river_stone_decor_collision_12.obj",
              "river_stone_decor_collision_13.obj",
              "river_stone_decor_collision_14.obj",
              "river_stone_decor_collision_15.obj",
              "river_stone_decor_collision_16.obj",
              "river_stone_decor_collision_17.obj",
              "river_stone_decor_collision_18.obj",
              "river_stone_decor_collision_19.obj",
              "river_stone_decor_collision_20.obj",
              "river_stone_decor_collision_21.obj",
              "river_stone_decor_collision_22.obj",
              "river_stone_decor_collision_23.obj",
              "river_stone_decor_collision_24.obj",
              "river_stone_decor_collision_25.obj",
              "river_stone_decor_collision_26.obj",
              "river_stone_decor_collision_27.obj",
              "river_stone_decor_collision_28.obj",
              "river_stone_decor_collision_29.obj",
              "river_stone_decor_collision_30.obj",
              "river_stone_decor_collision_31.obj",
              "river_stone_decor_collision_32.obj",
              "river_stone_decor_collision_33.obj",
              "river_stone_decor_collision_34.obj",
              "river_stone_decor_collision_35.obj",
              "river_stone_decor_collision_36.obj",
              "river_stone_decor_collision_37.obj",
              "river_stone_decor_collision_38.obj",
              "river_stone_decor_collision_39.obj",
              "river_stone_decor_collision_40.obj",
              "river_stone_decor_collision_41.obj",
              "river_stone_decor_collision_42.obj",
              "river_stone_decor_collision_43.obj",
              "river_stone_decor_collision_44.obj",
              "river_stone_decor_collision_45.obj",
              "river_stone_decor_collision_46.obj",
              "river_stone_decor_collision_47.obj",
              "river_stone_decor_collision_48.obj",
              "river_stone_decor_collision_49.obj",
              "river_stone_decor_collision_50.obj",
              "river_stone_decor_collision_51.obj",
              "river_stone_decor_collision_52.obj",
              "river_stone_decor_collision_53.obj",
              "river_stone_decor_collision_54.obj",
              "river_stone_decor_collision_55.obj",
              "river_stone_decor_collision_56.obj",
              "river_stone_decor_collision_57.obj",
              "river_stone_decor_collision_58.obj",
              "river_stone_decor_collision_59.obj",
              "river_stone_decor_collision_60.obj",
              "river_stone_decor_collision_61.obj",
              "river_stone_decor_collision_62.obj",
              "river_stone_decor_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "river_stone_decor_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "river_stone_decor_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.9,
              "mu2": 0.9
            },
            "visual_meshes": [
              "river_stone_decor.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "river_stone_decor.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "candle_2",
      "room_id": "bathroom",
      "name": "candle",
      "description": "small frosted glass candle",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          1.3772700614031859,
          0.21475320505161394,
          0.1441280641042216
        ],
        "rotation_wxyz": [
          0.7069732915027204,
          -0.0015738047650576755,
          -0.0011635038303954629,
          0.7072375375354505
        ]
      },
      "bbox_min": [
        -0.04117646813392639,
        -0.04117646813392639,
        0.0
      ],
      "bbox_max": [
        0.04117646813392639,
        0.04117646813392639,
        0.07000000029802322
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path": "generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "image_path": "generated_assets/manipuland/images/candle_1777557630799.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.1,
          0.0
        ],
        "rotation_2d": 0.0,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/candle_1777557630799/candle.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.4,
            "inertia_pose": [
              0.0,
              -0.0,
              0.032821,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0003044752,
              "ixy": 9.379414e-16,
              "ixz": 3.310646e-21,
              "iyy": 0.0003044752,
              "iyz": -1.258076e-20,
              "izz": 0.0003475312
            },
            "collision_meshes": [
              "candle_collision_0.obj",
              "candle_collision_1.obj",
              "candle_collision_2.obj",
              "candle_collision_3.obj",
              "candle_collision_4.obj",
              "candle_collision_5.obj",
              "candle_collision_6.obj",
              "candle_collision_7.obj",
              "candle_collision_8.obj",
              "candle_collision_9.obj",
              "candle_collision_10.obj",
              "candle_collision_11.obj",
              "candle_collision_12.obj",
              "candle_collision_13.obj",
              "candle_collision_14.obj",
              "candle_collision_15.obj",
              "candle_collision_16.obj",
              "candle_collision_17.obj",
              "candle_collision_18.obj",
              "candle_collision_19.obj",
              "candle_collision_20.obj",
              "candle_collision_21.obj",
              "candle_collision_22.obj",
              "candle_collision_23.obj",
              "candle_collision_24.obj",
              "candle_collision_25.obj",
              "candle_collision_26.obj",
              "candle_collision_27.obj",
              "candle_collision_28.obj",
              "candle_collision_29.obj",
              "candle_collision_30.obj",
              "candle_collision_31.obj",
              "candle_collision_32.obj",
              "candle_collision_33.obj",
              "candle_collision_34.obj",
              "candle_collision_35.obj",
              "candle_collision_36.obj",
              "candle_collision_37.obj",
              "candle_collision_38.obj",
              "candle_collision_39.obj",
              "candle_collision_40.obj",
              "candle_collision_41.obj",
              "candle_collision_42.obj",
              "candle_collision_43.obj",
              "candle_collision_44.obj",
              "candle_collision_45.obj",
              "candle_collision_46.obj",
              "candle_collision_47.obj",
              "candle_collision_48.obj",
              "candle_collision_49.obj",
              "candle_collision_50.obj",
              "candle_collision_51.obj",
              "candle_collision_52.obj",
              "candle_collision_53.obj",
              "candle_collision_54.obj",
              "candle_collision_55.obj",
              "candle_collision_56.obj",
              "candle_collision_57.obj",
              "candle_collision_58.obj",
              "candle_collision_59.obj",
              "candle_collision_60.obj",
              "candle_collision_61.obj",
              "candle_collision_62.obj",
              "candle_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "candle_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "candle_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "candle.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "candle.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "toilet_paper_roll_0",
      "room_id": "bathroom",
      "name": "toilet_paper_roll",
      "description": "small white spare toilet paper roll",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.5370140871546462,
          -0.9871233089945202,
          0.6716038396378531
        ],
        "rotation_wxyz": [
          0.9821134391640965,
          9.166680080813442e-06,
          -5.512241968789171e-06,
          0.18829018163159086
        ]
      },
      "bbox_min": [
        -0.054999999701976776,
        -0.054999999701976776,
        0.0
      ],
      "bbox_max": [
        0.054999999701976776,
        0.054999999701976776,
        0.10449999570846558
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/toilet_paper_roll_1777562017912/toilet_paper_roll.glb",
      "sdf_path": "generated_assets/manipuland/sdf/toilet_paper_roll_1777562017912/toilet_paper_roll.sdf",
      "image_path": "generated_assets/manipuland/images/toilet_paper_roll_1777562017912.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_4",
        "position_2d": [
          0.05,
          -0.07
        ],
        "rotation_2d": 0.3141592653589793,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/toilet_paper_roll_1777562017912/toilet_paper_roll.glb",
      "sdf_path_resolved": "room_bathroom/generated_assets/manipuland/sdf/toilet_paper_roll_1777562017912/toilet_paper_roll.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.12,
            "inertia_pose": [
              0.0,
              0.0,
              0.05225,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0002062481,
              "ixy": -8.813146e-15,
              "ixz": 1.187508e-20,
              "iyy": 0.0002062481,
              "iyz": -2.188871e-21,
              "izz": 0.000194123
            },
            "collision_meshes": [
              "toilet_paper_roll_collision_0.obj",
              "toilet_paper_roll_collision_1.obj",
              "toilet_paper_roll_collision_2.obj",
              "toilet_paper_roll_collision_3.obj",
              "toilet_paper_roll_collision_4.obj",
              "toilet_paper_roll_collision_5.obj",
              "toilet_paper_roll_collision_6.obj",
              "toilet_paper_roll_collision_7.obj",
              "toilet_paper_roll_collision_8.obj",
              "toilet_paper_roll_collision_9.obj",
              "toilet_paper_roll_collision_10.obj",
              "toilet_paper_roll_collision_11.obj",
              "toilet_paper_roll_collision_12.obj",
              "toilet_paper_roll_collision_13.obj",
              "toilet_paper_roll_collision_14.obj",
              "toilet_paper_roll_collision_15.obj",
              "toilet_paper_roll_collision_16.obj",
              "toilet_paper_roll_collision_17.obj",
              "toilet_paper_roll_collision_18.obj",
              "toilet_paper_roll_collision_19.obj",
              "toilet_paper_roll_collision_20.obj",
              "toilet_paper_roll_collision_21.obj",
              "toilet_paper_roll_collision_22.obj",
              "toilet_paper_roll_collision_23.obj",
              "toilet_paper_roll_collision_24.obj",
              "toilet_paper_roll_collision_25.obj",
              "toilet_paper_roll_collision_26.obj",
              "toilet_paper_roll_collision_27.obj",
              "toilet_paper_roll_collision_28.obj",
              "toilet_paper_roll_collision_29.obj",
              "toilet_paper_roll_collision_30.obj",
              "toilet_paper_roll_collision_31.obj",
              "toilet_paper_roll_collision_32.obj",
              "toilet_paper_roll_collision_33.obj",
              "toilet_paper_roll_collision_34.obj",
              "toilet_paper_roll_collision_35.obj",
              "toilet_paper_roll_collision_36.obj",
              "toilet_paper_roll_collision_37.obj",
              "toilet_paper_roll_collision_38.obj",
              "toilet_paper_roll_collision_39.obj",
              "toilet_paper_roll_collision_40.obj",
              "toilet_paper_roll_collision_41.obj",
              "toilet_paper_roll_collision_42.obj",
              "toilet_paper_roll_collision_43.obj",
              "toilet_paper_roll_collision_44.obj",
              "toilet_paper_roll_collision_45.obj",
              "toilet_paper_roll_collision_46.obj",
              "toilet_paper_roll_collision_47.obj",
              "toilet_paper_roll_collision_48.obj",
              "toilet_paper_roll_collision_49.obj",
              "toilet_paper_roll_collision_50.obj",
              "toilet_paper_roll_collision_51.obj",
              "toilet_paper_roll_collision_52.obj",
              "toilet_paper_roll_collision_53.obj",
              "toilet_paper_roll_collision_54.obj",
              "toilet_paper_roll_collision_55.obj",
              "toilet_paper_roll_collision_56.obj",
              "toilet_paper_roll_collision_57.obj",
              "toilet_paper_roll_collision_58.obj",
              "toilet_paper_roll_collision_59.obj",
              "toilet_paper_roll_collision_60.obj",
              "toilet_paper_roll_collision_61.obj",
              "toilet_paper_roll_collision_62.obj",
              "toilet_paper_roll_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "toilet_paper_roll_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "toilet_paper_roll_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.32,
              "mu2": 0.32
            },
            "visual_meshes": [
              "toilet_paper_roll.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "toilet_paper_roll.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "window_1",
      "room_id": "bathroom",
      "name": "window_1",
      "description": "Room geometry window_1",
      "object_type": "window",
      "transform": {
        "translation": [
          0.06813694972260054,
          1.375,
          1.6
        ],
        "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/bathroom/windows/window_1/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/bathroom/windows/window_1/window.gltf"
    },
    {
      "object_id": "north_wall_exterior",
      "room_id": "bathroom",
      "name": "north_wall_exterior",
      "description": "Room geometry north_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          1.4249999999999998,
          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/bathroom/walls/north_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/bathroom/walls/north_wall_exterior/wall.gltf"
    },
    {
      "object_id": "south_wall_exterior",
      "room_id": "bathroom",
      "name": "south_wall_exterior",
      "description": "Room geometry south_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          -1.4249999999999998,
          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/bathroom/walls/south_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/bathroom/walls/south_wall_exterior/wall.gltf"
    },
    {
      "object_id": "east_wall_exterior",
      "room_id": "bathroom",
      "name": "east_wall_exterior",
      "description": "Room geometry east_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          1.625,
          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/bathroom/walls/east_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/bathroom/walls/east_wall_exterior/wall.gltf"
    },
    {
      "object_id": "west_wall_exterior",
      "room_id": "bathroom",
      "name": "west_wall_exterior",
      "description": "Room geometry west_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          -1.625,
          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/bathroom/walls/west_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/bathroom/walls/west_wall_exterior/wall.gltf"
    },
    {
      "object_id": "floor_bathroom",
      "room_id": "bathroom",
      "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": [
        -1.6,
        -1.4,
        -0.1
      ],
      "bbox_max": [
        1.6,
        1.4,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "/mnt/petrelfs/songhan/puyi.wang/Code_Scene_workspace/outputs/scene_087/floor_plans/bathroom/floors/floor.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "floor_plans/bathroom/floors/floor.gltf"
    }
  ]
}