{
  "scene_dir": "scene_033",
  "layout": {
    "wall_height": 2.7,
    "house_prompt": "A living room featuring an irregular-shaped table in the middle of the room with a sofa positioned in front of it. Across the table are two sofa chairs with a small wooden coffee table placed between them. A clock is mounted on the wall far from the door."
  },
  "rooms": {
    "living_room": {
      "room_id": "living_room",
      "text_description": "A living room featuring an irregular-shaped table in the middle of the room with a sofa positioned in front of it. Across the table are two sofa chairs with a small wooden coffee table placed between them. A clock is mounted on the wall far from the door.",
      "width": 4.8,
      "length": 5.5,
      "wall_height": 2.7,
      "offset": [
        2.75,
        2.4
      ]
    }
  },
  "objects": [
    {
      "object_id": "north_wall",
      "room_id": "living_room",
      "name": "north_wall",
      "description": "Room north_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          2.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.75,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.75,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/living_room/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/living_room/walls/north_wall/wall.gltf"
    },
    {
      "object_id": "south_wall",
      "room_id": "living_room",
      "name": "south_wall",
      "description": "Room south_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          -2.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.75,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.75,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/living_room/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/living_room/walls/south_wall/wall.gltf"
    },
    {
      "object_id": "east_wall",
      "room_id": "living_room",
      "name": "east_wall",
      "description": "Room east_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          2.725,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/living_room/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/living_room/walls/east_wall/wall.gltf"
    },
    {
      "object_id": "west_wall",
      "room_id": "living_room",
      "name": "west_wall",
      "description": "Room west_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          -2.725,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/living_room/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/living_room/walls/west_wall/wall.gltf"
    },
    {
      "object_id": "living_room_table_0",
      "room_id": "living_room",
      "name": "living_room_table",
      "description": "irregular kidney-shaped low living room table with smooth contemporary form",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.008188855544708263,
          0.2124706519999403,
          -0.002159617026549207
        ],
        "rotation_wxyz": [
          0.9999665350847593,
          -0.00012572124112277992,
          -0.0005011791210691529,
          -0.008164663143013577
        ]
      },
      "bbox_min": [
        -0.6000000238418579,
        -0.36000001430511475,
        8.043323340700681e-09
      ],
      "bbox_max": [
        0.6000000238418579,
        0.36000001430511475,
        0.5404559969902039
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/living_room_table_1777398021369/living_room_table.glb",
      "sdf_path": "generated_assets/furniture/sdf/living_room_table_1777398021369/living_room_table.sdf",
      "image_path": "generated_assets/furniture/images/living_room_table_1777398021369.png",
      "support_surfaces": [
        {
          "surface_id": "S_0",
          "bounding_box_min": [
            -0.6000000238418579,
            -0.36000001430511475,
            0.01
          ],
          "bounding_box_max": [
            0.6000000238418579,
            0.36000001430511475,
            0.5
          ],
          "transform": {
            "translation": [
              -0.03894601211314678,
              0.21082173709392157,
              0.5482663364490601
            ],
            "rotation_wxyz": [
              0.9999665350847593,
              -0.00012572124112277992,
              -0.0005011791210691529,
              -0.008164663143013577
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                0.030173280385445436,
                0.35891073149812264,
                -0.010000000000000009
              ],
              [
                0.05961388639838584,
                0.354860685292602,
                -0.010000000000000009
              ],
              [
                0.08898356660933383,
                0.34940006536614937,
                -0.010000000000000009
              ],
              [
                0.11821156099171527,
                0.34267558855187935,
                -0.010000000000000009
              ],
              [
                0.14722747459740526,
                0.33484058779847664,
                -0.010000000000000009
              ],
              [
                0.1759613986286629,
                0.32604568404328865,
                -0.010000000000000009
              ],
              [
                0.20434410229058153,
                0.3164303819574122,
                -0.010000000000000009
              ],
              [
                0.23230720415444261,
                0.3061175267137293,
                -0.010000000000000009
              ],
              [
                0.25978335097164995,
                0.29520913166177315,
                -0.010000000000000009
              ],
              [
                0.2867063368830193,
                0.28378557366502327,
                -0.010000000000000009
              ],
              [
                0.31301132693619615,
                0.27190586132180733,
                -0.010000000000000009
              ],
              [
                0.33863494649262316,
                0.25961016816270394,
                -0.010000000000000009
              ],
              [
                0.3635154153379906,
                0.24692275327813668,
                -0.010000000000000009
              ],
              [
                0.38759286060662157,
                0.23385601443421883,
                -0.010000000000000009
              ],
              [
                0.41080928697914965,
                0.22041397494447273,
                -0.010000000000000009
              ],
              [
                0.43310866608948595,
                0.20659584504735512,
                -0.010000000000000009
              ],
              [
                0.45443735375733263,
                0.19239888292920632,
                -0.010000000000000009
              ],
              [
                0.4747439409765709,
                0.1778207342065577,
                -0.010000000000000009
              ],
              [
                0.493979551938485,
                0.1628612796701197,
                -0.010000000000000009
              ],
              [
                0.5120977844271172,
                0.14752358895909828,
                -0.010000000000000009
              ],
              [
                0.5290550376448143,
                0.13181481463086647,
                -0.010000000000000009
              ],
              [
                0.5448104526075829,
                0.11574635607373755,
                -0.010000000000000009
              ],
              [
                0.5593260313543785,
                0.09933393401277106,
                -0.010000000000000009
              ],
              [
                0.5725668455633629,
                0.08259741169583838,
                -0.010000000000000009
              ],
              [
                0.5845010067495812,
                0.0655605713762049,
                -0.010000000000000009
              ],
              [
                0.5950997258696068,
                0.048250615123629985,
                -0.010000000000000009
              ],
              [
                0.6043374921354759,
                0.03069793385636848,
                -0.010000000000000009
              ],
              [
                0.6121920134100426,
                0.012935665894270358,
                -0.010000000000000009
              ],
              [
                0.6186444546255577,
                -0.005000675104587855,
                -0.010000000000000009
              ],
              [
                0.6236791993650902,
                -0.023073493044852796,
                -0.010000000000000009
              ],
              [
                0.6272840882811058,
                -0.041243397172569814,
                -0.010000000000000009
              ],
              [
                0.629450538304757,
                -0.05946949544179398,
                -0.010000000000000009
              ],
              [
                0.6301733042273033,
                -0.07973934012281854,
                -0.010000000000000009
              ],
              [
                0.629450538304757,
                -0.07139878767359216,
                -0.010000000000000009
              ],
              [
                0.6272840882811058,
                -0.08906564163792093,
                -0.010000000000000009
              ],
              [
                0.6236791993650902,
                -0.10628631013262231,
                -0.010000000000000009
              ],
              [
                0.6186444546255577,
                -0.12299386459219415,
                -0.010000000000000009
              ],
              [
                0.6121920134100426,
                -0.13911201852190452,
                -0.010000000000000009
              ],
              [
                0.6043374921354759,
                -0.1545549114309545,
                -0.010000000000000009
              ],
              [
                0.5950997258696068,
                -0.16922719078886467,
                -0.010000000000000009
              ],
              [
                0.5845010067495812,
                -0.183024235542893,
                -0.010000000000000009
              ],
              [
                0.5725668455633629,
                -0.19583279686796623,
                -0.010000000000000009
              ],
              [
                0.5593260313543785,
                -0.20753266709673363,
                -0.010000000000000009
              ],
              [
                0.5448104526075829,
                -0.2179990341030355,
                -0.010000000000000009
              ],
              [
                0.5290550376448143,
                -0.22710666852819877,
                -0.010000000000000009
              ],
              [
                0.5120977844271172,
                -0.234735541518807,
                -0.010000000000000009
              ],
              [
                0.493979551938485,
                -0.24077893095838981,
                -0.010000000000000009
              ],
              [
                0.4747439409765709,
                -0.24515331583845573,
                -0.010000000000000009
              ],
              [
                0.45443735375733263,
                -0.24781093793737846,
                -0.010000000000000009
              ],
              [
                0.43310866608948595,
                -0.2487537642084356,
                -0.010000000000000009
              ],
              [
                0.41080928697914965,
                -0.24804783659803825,
                -0.010000000000000009
              ],
              [
                0.38759286060662157,
                -0.24583730893957573,
                -0.010000000000000009
              ],
              [
                0.3635154153379906,
                -0.2423550118767019,
                -0.010000000000000009
              ],
              [
                0.33863494649262316,
                -0.23792738514769035,
                -0.010000000000000009
              ],
              [
                0.31301132693619615,
                -0.2329713185392614,
                -0.010000000000000009
              ],
              [
                0.2867063368830193,
                -0.22798078554499107,
                -0.010000000000000009
              ],
              [
                0.25978335097164995,
                -0.2235014219843145,
                -0.010000000000000009
              ],
              [
                0.23230720415444261,
                -0.2200946142040487,
                -0.010000000000000009
              ],
              [
                0.20434410229058153,
                -0.21829252737390953,
                -0.010000000000000009
              ],
              [
                0.1759613986286629,
                -0.21854917007315117,
                -0.010000000000000009
              ],
              [
                0.14722747459740526,
                -0.22119338112699943,
                -0.010000000000000009
              ],
              [
                0.11821156099171527,
                -0.22639032500612694,
                -0.010000000000000009
              ],
              [
                0.08898356660933383,
                -0.23411769467222648,
                -0.010000000000000009
              ],
              [
                0.05961388639838584,
                -0.24416139024126488,
                -0.010000000000000009
              ],
              [
                0.030173280385445436,
                -0.2561312993131872,
                -0.010000000000000009
              ],
              [
                0.0007326743725050294,
                -0.2694960017763372,
                -0.010000000000000009
              ],
              [
                -0.02863700583844296,
                -0.2836312134824987,
                -0.010000000000000009
              ],
              [
                -0.0578650002208244,
                -0.2978751440607305,
                -0.010000000000000009
              ],
              [
                -0.0868809138265144,
                -0.31158305006849724,
                -0.010000000000000009
              ],
              [
                -0.11561483785777203,
                -0.32417441206800895,
                -0.010000000000000009
              ],
              [
                -0.14399754151969069,
                -0.33516750532019096,
                -0.010000000000000009
              ],
              [
                -0.17196064338355177,
                -0.3441996057592626,
                -0.010000000000000009
              ],
              [
                -0.1994367902007591,
                -0.35103208618986564,
                -0.010000000000000009
              ],
              [
                -0.22635977611212843,
                -0.35554385977613884,
                -0.010000000000000009
              ],
              [
                -0.2526647661653053,
                -0.35771519738066154,
                -0.010000000000000009
              ],
              [
                -0.2782883857217323,
                -0.3576073427759405,
                -0.010000000000000009
              ],
              [
                -0.30316885456709974,
                -0.3553399820886846,
                -0.010000000000000009
              ],
              [
                -0.3272462998357307,
                -0.35107029276716667,
                -0.010000000000000009
              ],
              [
                -0.3504627262082588,
                -0.34497506218779045,
                -0.010000000000000009
              ],
              [
                -0.3727621053185951,
                -0.33723647194731193,
                -0.010000000000000009
              ],
              [
                -0.3940907929864418,
                -0.32803223329412895,
                -0.010000000000000009
              ],
              [
                -0.41439738020568007,
                -0.31752909022200065,
                -0.010000000000000009
              ],
              [
                -0.43363299116759413,
                -0.30587936240065056,
                -0.010000000000000009
              ],
              [
                -0.45175122365622633,
                -0.2932197828851934,
                -0.010000000000000009
              ],
              [
                -0.4687084768739235,
                -0.2796719153486486,
                -0.010000000000000009
              ],
              [
                -0.48446389183669203,
                -0.2653431971632238,
                -0.010000000000000009
              ],
              [
                -0.4989794705834877,
                -0.2503287871443029,
                -0.010000000000000009
              ],
              [
                -0.5122202847924721,
                -0.23471336859095054,
                -0.010000000000000009
              ],
              [
                -0.5241544459786903,
                -0.2185730417333837,
                -0.010000000000000009
              ],
              [
                -0.534753165098716,
                -0.2019768436514135,
                -0.010000000000000009
              ],
              [
                -0.5439909313645851,
                -0.18498819368708092,
                -0.010000000000000009
              ],
              [
                -0.5518454526391517,
                -0.167666130241036,
                -0.010000000000000009
              ],
              [
                -0.5582978938546669,
                -0.15006608563291984,
                -0.010000000000000009
              ],
              [
                -0.5633326385941994,
                -0.13224067586290794,
                -0.010000000000000009
              ],
              [
                -0.566937527510215,
                -0.11424016254770715,
                -0.010000000000000009
              ],
              [
                -0.5691039775338661,
                -0.09611286270248849,
                -0.010000000000000009
              ],
              [
                -0.5698267434564125,
                -0.07973934012281854,
                -0.010000000000000009
              ],
              [
                -0.5691039775338661,
                -0.04644341441619355,
                -0.010000000000000009
              ],
              [
                -0.566937527510215,
                -0.028043566744803967,
                -0.010000000000000009
              ],
              [
                -0.5633326385941994,
                -0.009581624072074475,
                -0.010000000000000009
              ],
              [
                -0.5582978938546669,
                0.008905067101091561,
                -0.010000000000000009
              ],
              [
                -0.5518454526391517,
                0.02738185738396686,
                -0.010000000000000009
              ],
              [
                -0.5439909313645851,
                0.04581679356467765,
                -0.010000000000000009
              ],
              [
                -0.534753165098716,
                0.06418047425520461,
                -0.010000000000000009
              ],
              [
                -0.5241544459786903,
                0.08244577747952979,
                -0.010000000000000009
              ],
              [
                -0.5122202847924721,
                0.10058746439588111,
                -0.010000000000000009
              ],
              [
                -0.4989794705834877,
                0.11858157021176856,
                -0.010000000000000009
              ],
              [
                -0.48446389183669203,
                0.13640443188321633,
                -0.010000000000000009
              ],
              [
                -0.4687084768739235,
                0.15403144759309334,
                -0.010000000000000009
              ],
              [
                -0.45175122365622633,
                0.17143558663499397,
                -0.010000000000000009
              ],
              [
                -0.43363299116759413,
                0.1885854373611216,
                -0.010000000000000009
              ],
              [
                -0.41439738020568007,
                0.20544289750230355,
                -0.010000000000000009
              ],
              [
                -0.3940907929864418,
                0.22196087938916725,
                -0.010000000000000009
              ],
              [
                -0.3727621053185951,
                0.23808086616170449,
                -0.010000000000000009
              ],
              [
                -0.3504627262082588,
                0.2537304977811579,
                -0.010000000000000009
              ],
              [
                -0.3272462998357307,
                0.26882188719880623,
                -0.010000000000000009
              ],
              [
                -0.30316885456709974,
                0.2832509796060328,
                -0.010000000000000009
              ],
              [
                -0.2782883857217323,
                0.29689773124825997,
                -0.010000000000000009
              ],
              [
                -0.2526647661653053,
                0.3096280912793879,
                -0.010000000000000009
              ],
              [
                -0.22635977611212843,
                0.32129832309854073,
                -0.010000000000000009
              ],
              [
                -0.1994367902007591,
                0.3317599217332606,
                -0.010000000000000009
              ],
              [
                -0.17196064338355177,
                0.34086774987351937,
                -0.010000000000000009
              ],
              [
                -0.14399754151969069,
                0.34848775667321724,
                -0.010000000000000009
              ],
              [
                -0.11561483785777203,
                0.3545063654817347,
                -0.010000000000000009
              ],
              [
                -0.0868809138265144,
                0.35883855027329964,
                -0.010000000000000009
              ],
              [
                -0.0578650002208244,
                0.36143471998345894,
                -0.010000000000000009
              ],
              [
                -0.02863700583844296,
                0.36228483122956795,
                -0.010000000000000009
              ],
              [
                0.0007326743725050294,
                0.36142011684548897,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                2,
                1,
                0
              ],
              [
                0,
                127,
                126
              ],
              [
                126,
                125,
                124
              ],
              [
                124,
                123,
                122
              ],
              [
                122,
                121,
                120
              ],
              [
                120,
                119,
                118
              ],
              [
                118,
                117,
                116
              ],
              [
                116,
                115,
                114
              ],
              [
                114,
                113,
                112
              ],
              [
                112,
                111,
                110
              ],
              [
                110,
                109,
                108
              ],
              [
                108,
                107,
                106
              ],
              [
                106,
                105,
                104
              ],
              [
                104,
                103,
                102
              ],
              [
                102,
                101,
                100
              ],
              [
                100,
                99,
                98
              ],
              [
                98,
                97,
                96
              ],
              [
                96,
                95,
                94
              ],
              [
                94,
                93,
                92
              ],
              [
                92,
                91,
                90
              ],
              [
                90,
                89,
                88
              ],
              [
                88,
                87,
                86
              ],
              [
                86,
                85,
                84
              ],
              [
                84,
                83,
                82
              ],
              [
                82,
                81,
                80
              ],
              [
                80,
                79,
                78
              ],
              [
                78,
                77,
                76
              ],
              [
                76,
                75,
                74
              ],
              [
                74,
                73,
                72
              ],
              [
                72,
                71,
                70
              ],
              [
                70,
                69,
                68
              ],
              [
                68,
                67,
                66
              ],
              [
                68,
                66,
                65
              ],
              [
                72,
                70,
                68
              ],
              [
                76,
                74,
                72
              ],
              [
                80,
                78,
                76
              ],
              [
                84,
                82,
                80
              ],
              [
                88,
                86,
                84
              ],
              [
                92,
                90,
                88
              ],
              [
                96,
                94,
                92
              ],
              [
                100,
                98,
                96
              ],
              [
                104,
                102,
                100
              ],
              [
                108,
                106,
                104
              ],
              [
                112,
                110,
                108
              ],
              [
                116,
                114,
                112
              ],
              [
                120,
                118,
                116
              ],
              [
                124,
                122,
                120
              ],
              [
                0,
                126,
                124
              ],
              [
                3,
                2,
                0
              ],
              [
                5,
                4,
                3
              ],
              [
                7,
                6,
                5
              ],
              [
                9,
                8,
                7
              ],
              [
                11,
                10,
                9
              ],
              [
                13,
                12,
                11
              ],
              [
                15,
                14,
                13
              ],
              [
                17,
                16,
                15
              ],
              [
                19,
                18,
                17
              ],
              [
                21,
                20,
                19
              ],
              [
                23,
                22,
                21
              ],
              [
                25,
                24,
                23
              ],
              [
                27,
                26,
                25
              ],
              [
                29,
                28,
                27
              ],
              [
                31,
                30,
                29
              ],
              [
                33,
                32,
                31
              ],
              [
                35,
                34,
                33
              ],
              [
                37,
                36,
                35
              ],
              [
                39,
                38,
                37
              ],
              [
                41,
                40,
                39
              ],
              [
                43,
                42,
                41
              ],
              [
                45,
                44,
                43
              ],
              [
                47,
                46,
                45
              ],
              [
                49,
                48,
                47
              ],
              [
                51,
                50,
                49
              ],
              [
                53,
                52,
                51
              ],
              [
                54,
                53,
                51
              ],
              [
                51,
                49,
                47
              ],
              [
                47,
                45,
                43
              ],
              [
                43,
                41,
                39
              ],
              [
                39,
                37,
                35
              ],
              [
                35,
                33,
                31
              ],
              [
                31,
                29,
                27
              ],
              [
                27,
                25,
                23
              ],
              [
                23,
                21,
                19
              ],
              [
                19,
                17,
                15
              ],
              [
                15,
                13,
                11
              ],
              [
                11,
                9,
                7
              ],
              [
                7,
                5,
                3
              ],
              [
                3,
                0,
                124
              ],
              [
                124,
                120,
                116
              ],
              [
                116,
                112,
                108
              ],
              [
                108,
                104,
                100
              ],
              [
                100,
                96,
                92
              ],
              [
                92,
                88,
                84
              ],
              [
                84,
                80,
                76
              ],
              [
                76,
                72,
                68
              ],
              [
                76,
                68,
                65
              ],
              [
                92,
                84,
                76
              ],
              [
                108,
                100,
                92
              ],
              [
                124,
                116,
                108
              ],
              [
                7,
                3,
                124
              ],
              [
                15,
                11,
                7
              ],
              [
                23,
                19,
                15
              ],
              [
                31,
                27,
                23
              ],
              [
                39,
                35,
                31
              ],
              [
                47,
                43,
                39
              ],
              [
                54,
                51,
                47
              ],
              [
                55,
                54,
                47
              ],
              [
                47,
                39,
                31
              ],
              [
                31,
                23,
                15
              ],
              [
                15,
                7,
                124
              ],
              [
                124,
                108,
                92
              ],
              [
                92,
                76,
                65
              ],
              [
                92,
                65,
                64
              ],
              [
                15,
                124,
                92
              ],
              [
                47,
                31,
                15
              ],
              [
                56,
                55,
                47
              ],
              [
                57,
                56,
                47
              ],
              [
                15,
                92,
                64
              ],
              [
                15,
                64,
                63
              ],
              [
                57,
                47,
                15
              ],
              [
                58,
                57,
                15
              ],
              [
                15,
                63,
                62
              ],
              [
                15,
                62,
                61
              ],
              [
                59,
                58,
                15
              ],
              [
                15,
                61,
                60
              ],
              [
                60,
                59,
                15
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/living_room_table_1777398021369/living_room_table.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/living_room_table_1777398021369/living_room_table.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 9.5,
            "inertia_pose": [
              -0.025694,
              -0.001946,
              0.482301,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.3870743,
              "ixy": -0.03601737,
              "ixz": 0.008336954,
              "iyy": 1.095283,
              "iyz": 0.0006313049,
              "izz": 1.299501
            },
            "collision_meshes": [
              "living_room_table_collision_0.obj",
              "living_room_table_collision_1.obj",
              "living_room_table_collision_2.obj",
              "living_room_table_collision_3.obj",
              "living_room_table_collision_4.obj",
              "living_room_table_collision_5.obj",
              "living_room_table_collision_6.obj",
              "living_room_table_collision_7.obj",
              "living_room_table_collision_8.obj",
              "living_room_table_collision_9.obj",
              "living_room_table_collision_10.obj",
              "living_room_table_collision_11.obj",
              "living_room_table_collision_12.obj",
              "living_room_table_collision_13.obj",
              "living_room_table_collision_14.obj",
              "living_room_table_collision_15.obj",
              "living_room_table_collision_16.obj",
              "living_room_table_collision_17.obj",
              "living_room_table_collision_18.obj",
              "living_room_table_collision_19.obj",
              "living_room_table_collision_20.obj",
              "living_room_table_collision_21.obj",
              "living_room_table_collision_22.obj",
              "living_room_table_collision_23.obj",
              "living_room_table_collision_24.obj",
              "living_room_table_collision_25.obj",
              "living_room_table_collision_26.obj",
              "living_room_table_collision_27.obj",
              "living_room_table_collision_28.obj",
              "living_room_table_collision_29.obj",
              "living_room_table_collision_30.obj",
              "living_room_table_collision_31.obj",
              "living_room_table_collision_32.obj",
              "living_room_table_collision_33.obj",
              "living_room_table_collision_34.obj",
              "living_room_table_collision_35.obj",
              "living_room_table_collision_36.obj",
              "living_room_table_collision_37.obj",
              "living_room_table_collision_38.obj",
              "living_room_table_collision_39.obj",
              "living_room_table_collision_40.obj",
              "living_room_table_collision_41.obj",
              "living_room_table_collision_42.obj",
              "living_room_table_collision_43.obj",
              "living_room_table_collision_44.obj",
              "living_room_table_collision_45.obj",
              "living_room_table_collision_46.obj",
              "living_room_table_collision_47.obj",
              "living_room_table_collision_48.obj",
              "living_room_table_collision_49.obj",
              "living_room_table_collision_50.obj",
              "living_room_table_collision_51.obj",
              "living_room_table_collision_52.obj",
              "living_room_table_collision_53.obj",
              "living_room_table_collision_54.obj",
              "living_room_table_collision_55.obj",
              "living_room_table_collision_56.obj",
              "living_room_table_collision_57.obj",
              "living_room_table_collision_58.obj",
              "living_room_table_collision_59.obj",
              "living_room_table_collision_60.obj",
              "living_room_table_collision_61.obj",
              "living_room_table_collision_62.obj",
              "living_room_table_collision_63.obj",
              "living_room_table_collision_64.obj",
              "living_room_table_collision_65.obj",
              "living_room_table_collision_66.obj",
              "living_room_table_collision_67.obj",
              "living_room_table_collision_68.obj",
              "living_room_table_collision_69.obj",
              "living_room_table_collision_70.obj",
              "living_room_table_collision_71.obj",
              "living_room_table_collision_72.obj",
              "living_room_table_collision_73.obj",
              "living_room_table_collision_74.obj",
              "living_room_table_collision_75.obj",
              "living_room_table_collision_76.obj",
              "living_room_table_collision_77.obj",
              "living_room_table_collision_78.obj",
              "living_room_table_collision_79.obj",
              "living_room_table_collision_80.obj",
              "living_room_table_collision_81.obj",
              "living_room_table_collision_82.obj",
              "living_room_table_collision_83.obj",
              "living_room_table_collision_84.obj",
              "living_room_table_collision_85.obj",
              "living_room_table_collision_86.obj",
              "living_room_table_collision_87.obj",
              "living_room_table_collision_88.obj",
              "living_room_table_collision_89.obj",
              "living_room_table_collision_90.obj",
              "living_room_table_collision_91.obj",
              "living_room_table_collision_92.obj",
              "living_room_table_collision_93.obj",
              "living_room_table_collision_94.obj",
              "living_room_table_collision_95.obj",
              "living_room_table_collision_96.obj",
              "living_room_table_collision_97.obj",
              "living_room_table_collision_98.obj",
              "living_room_table_collision_99.obj",
              "living_room_table_collision_100.obj",
              "living_room_table_collision_101.obj",
              "living_room_table_collision_102.obj",
              "living_room_table_collision_103.obj",
              "living_room_table_collision_104.obj",
              "living_room_table_collision_105.obj",
              "living_room_table_collision_106.obj",
              "living_room_table_collision_107.obj",
              "living_room_table_collision_108.obj",
              "living_room_table_collision_109.obj",
              "living_room_table_collision_110.obj",
              "living_room_table_collision_111.obj",
              "living_room_table_collision_112.obj",
              "living_room_table_collision_113.obj",
              "living_room_table_collision_114.obj",
              "living_room_table_collision_115.obj",
              "living_room_table_collision_116.obj",
              "living_room_table_collision_117.obj",
              "living_room_table_collision_118.obj",
              "living_room_table_collision_119.obj",
              "living_room_table_collision_120.obj",
              "living_room_table_collision_121.obj",
              "living_room_table_collision_122.obj",
              "living_room_table_collision_123.obj",
              "living_room_table_collision_124.obj",
              "living_room_table_collision_125.obj",
              "living_room_table_collision_126.obj",
              "living_room_table_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "living_room_table_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "living_room_table_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "living_room_table.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "living_room_table.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "sofa_0",
      "room_id": "living_room",
      "name": "sofa",
      "description": "contemporary three-seat upholstered sofa in neutral beige fabric",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.008867224588236756,
          -1.5318994333094713,
          -0.00016587985812153294
        ],
        "rotation_wxyz": [
          0.9999388011261432,
          4.1130307315845475e-05,
          4.5504288068251633e-07,
          0.011063105825314902
        ]
      },
      "bbox_min": [
        -1.0199997425079346,
        -0.42500001192092896,
        0.0
      ],
      "bbox_max": [
        1.0199997425079346,
        0.42500001192092896,
        1.0265185832977295
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/sofa_1777388309167/sofa.glb",
      "sdf_path": "generated_assets/furniture/sdf/sofa_1777388309167/sofa.sdf",
      "image_path": "generated_assets/furniture/images/sofa_1777388309167.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_1777388309167/sofa.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_1777388309167/sofa.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 34.0,
            "inertia_pose": [
              0.0,
              -0.061026,
              0.488502,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 3.289019,
              "ixy": -1.006042e-06,
              "ixz": -1.590214e-07,
              "iyy": 13.55985,
              "iyz": 0.5171156,
              "izz": 14.2465
            },
            "collision_meshes": [
              "sofa_collision_0.obj",
              "sofa_collision_1.obj",
              "sofa_collision_2.obj",
              "sofa_collision_3.obj",
              "sofa_collision_4.obj",
              "sofa_collision_5.obj",
              "sofa_collision_6.obj",
              "sofa_collision_7.obj",
              "sofa_collision_8.obj",
              "sofa_collision_9.obj",
              "sofa_collision_10.obj",
              "sofa_collision_11.obj",
              "sofa_collision_12.obj",
              "sofa_collision_13.obj",
              "sofa_collision_14.obj",
              "sofa_collision_15.obj",
              "sofa_collision_16.obj",
              "sofa_collision_17.obj",
              "sofa_collision_18.obj",
              "sofa_collision_19.obj",
              "sofa_collision_20.obj",
              "sofa_collision_21.obj",
              "sofa_collision_22.obj",
              "sofa_collision_23.obj",
              "sofa_collision_24.obj",
              "sofa_collision_25.obj",
              "sofa_collision_26.obj",
              "sofa_collision_27.obj",
              "sofa_collision_28.obj",
              "sofa_collision_29.obj",
              "sofa_collision_30.obj",
              "sofa_collision_31.obj",
              "sofa_collision_32.obj",
              "sofa_collision_33.obj",
              "sofa_collision_34.obj",
              "sofa_collision_35.obj",
              "sofa_collision_36.obj",
              "sofa_collision_37.obj",
              "sofa_collision_38.obj",
              "sofa_collision_39.obj",
              "sofa_collision_40.obj",
              "sofa_collision_41.obj",
              "sofa_collision_42.obj",
              "sofa_collision_43.obj",
              "sofa_collision_44.obj",
              "sofa_collision_45.obj",
              "sofa_collision_46.obj",
              "sofa_collision_47.obj",
              "sofa_collision_48.obj",
              "sofa_collision_49.obj",
              "sofa_collision_50.obj",
              "sofa_collision_51.obj",
              "sofa_collision_52.obj",
              "sofa_collision_53.obj",
              "sofa_collision_54.obj",
              "sofa_collision_55.obj",
              "sofa_collision_56.obj",
              "sofa_collision_57.obj",
              "sofa_collision_58.obj",
              "sofa_collision_59.obj",
              "sofa_collision_60.obj",
              "sofa_collision_61.obj",
              "sofa_collision_62.obj",
              "sofa_collision_63.obj",
              "sofa_collision_64.obj",
              "sofa_collision_65.obj",
              "sofa_collision_66.obj",
              "sofa_collision_67.obj",
              "sofa_collision_68.obj",
              "sofa_collision_69.obj",
              "sofa_collision_70.obj",
              "sofa_collision_71.obj",
              "sofa_collision_72.obj",
              "sofa_collision_73.obj",
              "sofa_collision_74.obj",
              "sofa_collision_75.obj",
              "sofa_collision_76.obj",
              "sofa_collision_77.obj",
              "sofa_collision_78.obj",
              "sofa_collision_79.obj",
              "sofa_collision_80.obj",
              "sofa_collision_81.obj",
              "sofa_collision_82.obj",
              "sofa_collision_83.obj",
              "sofa_collision_84.obj",
              "sofa_collision_85.obj",
              "sofa_collision_86.obj",
              "sofa_collision_87.obj",
              "sofa_collision_88.obj",
              "sofa_collision_89.obj",
              "sofa_collision_90.obj",
              "sofa_collision_91.obj",
              "sofa_collision_92.obj",
              "sofa_collision_93.obj",
              "sofa_collision_94.obj",
              "sofa_collision_95.obj",
              "sofa_collision_96.obj",
              "sofa_collision_97.obj",
              "sofa_collision_98.obj",
              "sofa_collision_99.obj",
              "sofa_collision_100.obj",
              "sofa_collision_101.obj",
              "sofa_collision_102.obj",
              "sofa_collision_103.obj",
              "sofa_collision_104.obj",
              "sofa_collision_105.obj",
              "sofa_collision_106.obj",
              "sofa_collision_107.obj",
              "sofa_collision_108.obj",
              "sofa_collision_109.obj",
              "sofa_collision_110.obj",
              "sofa_collision_111.obj",
              "sofa_collision_112.obj",
              "sofa_collision_113.obj",
              "sofa_collision_114.obj",
              "sofa_collision_115.obj",
              "sofa_collision_116.obj",
              "sofa_collision_117.obj",
              "sofa_collision_118.obj",
              "sofa_collision_119.obj",
              "sofa_collision_120.obj",
              "sofa_collision_121.obj",
              "sofa_collision_122.obj",
              "sofa_collision_123.obj",
              "sofa_collision_124.obj",
              "sofa_collision_125.obj",
              "sofa_collision_126.obj",
              "sofa_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "sofa_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "sofa.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "sofa.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "sofa_chair_0",
      "room_id": "living_room",
      "name": "sofa_chair",
      "description": "matching upholstered sofa chair with rounded arms in neutral beige fabric",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.9502437355012802,
          1.14698474465332,
          -0.00012101671037221103
        ],
        "rotation_wxyz": [
          0.38040403806391215,
          1.2405645142873967e-05,
          -3.0160019106084342e-05,
          -0.9248203970291438
        ]
      },
      "bbox_min": [
        -0.47968679666519165,
        -0.43668851256370544,
        0.0
      ],
      "bbox_max": [
        0.47968676686286926,
        0.38742247223854065,
        0.8999999761581421
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.sdf",
      "image_path": "generated_assets/furniture/images/sofa_chair_1777389191022.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 25.0,
            "inertia_pose": [
              -0.0,
              -0.079607,
              0.408021,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 2.104476,
              "ixy": 3.192198e-08,
              "ixz": -4.110298e-08,
              "iyy": 2.307138,
              "iyz": 0.3229802,
              "izz": 2.84066
            },
            "collision_meshes": [
              "sofa_chair_collision_0.obj",
              "sofa_chair_collision_1.obj",
              "sofa_chair_collision_2.obj",
              "sofa_chair_collision_3.obj",
              "sofa_chair_collision_4.obj",
              "sofa_chair_collision_5.obj",
              "sofa_chair_collision_6.obj",
              "sofa_chair_collision_7.obj",
              "sofa_chair_collision_8.obj",
              "sofa_chair_collision_9.obj",
              "sofa_chair_collision_10.obj",
              "sofa_chair_collision_11.obj",
              "sofa_chair_collision_12.obj",
              "sofa_chair_collision_13.obj",
              "sofa_chair_collision_14.obj",
              "sofa_chair_collision_15.obj",
              "sofa_chair_collision_16.obj",
              "sofa_chair_collision_17.obj",
              "sofa_chair_collision_18.obj",
              "sofa_chair_collision_19.obj",
              "sofa_chair_collision_20.obj",
              "sofa_chair_collision_21.obj",
              "sofa_chair_collision_22.obj",
              "sofa_chair_collision_23.obj",
              "sofa_chair_collision_24.obj",
              "sofa_chair_collision_25.obj",
              "sofa_chair_collision_26.obj",
              "sofa_chair_collision_27.obj",
              "sofa_chair_collision_28.obj",
              "sofa_chair_collision_29.obj",
              "sofa_chair_collision_30.obj",
              "sofa_chair_collision_31.obj",
              "sofa_chair_collision_32.obj",
              "sofa_chair_collision_33.obj",
              "sofa_chair_collision_34.obj",
              "sofa_chair_collision_35.obj",
              "sofa_chair_collision_36.obj",
              "sofa_chair_collision_37.obj",
              "sofa_chair_collision_38.obj",
              "sofa_chair_collision_39.obj",
              "sofa_chair_collision_40.obj",
              "sofa_chair_collision_41.obj",
              "sofa_chair_collision_42.obj",
              "sofa_chair_collision_43.obj",
              "sofa_chair_collision_44.obj",
              "sofa_chair_collision_45.obj",
              "sofa_chair_collision_46.obj",
              "sofa_chair_collision_47.obj",
              "sofa_chair_collision_48.obj",
              "sofa_chair_collision_49.obj",
              "sofa_chair_collision_50.obj",
              "sofa_chair_collision_51.obj",
              "sofa_chair_collision_52.obj",
              "sofa_chair_collision_53.obj",
              "sofa_chair_collision_54.obj",
              "sofa_chair_collision_55.obj",
              "sofa_chair_collision_56.obj",
              "sofa_chair_collision_57.obj",
              "sofa_chair_collision_58.obj",
              "sofa_chair_collision_59.obj",
              "sofa_chair_collision_60.obj",
              "sofa_chair_collision_61.obj",
              "sofa_chair_collision_62.obj",
              "sofa_chair_collision_63.obj",
              "sofa_chair_collision_64.obj",
              "sofa_chair_collision_65.obj",
              "sofa_chair_collision_66.obj",
              "sofa_chair_collision_67.obj",
              "sofa_chair_collision_68.obj",
              "sofa_chair_collision_69.obj",
              "sofa_chair_collision_70.obj",
              "sofa_chair_collision_71.obj",
              "sofa_chair_collision_72.obj",
              "sofa_chair_collision_73.obj",
              "sofa_chair_collision_74.obj",
              "sofa_chair_collision_75.obj",
              "sofa_chair_collision_76.obj",
              "sofa_chair_collision_77.obj",
              "sofa_chair_collision_78.obj",
              "sofa_chair_collision_79.obj",
              "sofa_chair_collision_80.obj",
              "sofa_chair_collision_81.obj",
              "sofa_chair_collision_82.obj",
              "sofa_chair_collision_83.obj",
              "sofa_chair_collision_84.obj",
              "sofa_chair_collision_85.obj",
              "sofa_chair_collision_86.obj",
              "sofa_chair_collision_87.obj",
              "sofa_chair_collision_88.obj",
              "sofa_chair_collision_89.obj",
              "sofa_chair_collision_90.obj",
              "sofa_chair_collision_91.obj",
              "sofa_chair_collision_92.obj",
              "sofa_chair_collision_93.obj",
              "sofa_chair_collision_94.obj",
              "sofa_chair_collision_95.obj",
              "sofa_chair_collision_96.obj",
              "sofa_chair_collision_97.obj",
              "sofa_chair_collision_98.obj",
              "sofa_chair_collision_99.obj",
              "sofa_chair_collision_100.obj",
              "sofa_chair_collision_101.obj",
              "sofa_chair_collision_102.obj",
              "sofa_chair_collision_103.obj",
              "sofa_chair_collision_104.obj",
              "sofa_chair_collision_105.obj",
              "sofa_chair_collision_106.obj",
              "sofa_chair_collision_107.obj",
              "sofa_chair_collision_108.obj",
              "sofa_chair_collision_109.obj",
              "sofa_chair_collision_110.obj",
              "sofa_chair_collision_111.obj",
              "sofa_chair_collision_112.obj",
              "sofa_chair_collision_113.obj",
              "sofa_chair_collision_114.obj",
              "sofa_chair_collision_115.obj",
              "sofa_chair_collision_116.obj",
              "sofa_chair_collision_117.obj",
              "sofa_chair_collision_118.obj",
              "sofa_chair_collision_119.obj",
              "sofa_chair_collision_120.obj",
              "sofa_chair_collision_121.obj",
              "sofa_chair_collision_122.obj",
              "sofa_chair_collision_123.obj",
              "sofa_chair_collision_124.obj",
              "sofa_chair_collision_125.obj",
              "sofa_chair_collision_126.obj",
              "sofa_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "sofa_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "sofa_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "sofa_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "sofa_chair_1",
      "room_id": "living_room",
      "name": "sofa_chair",
      "description": "matching upholstered sofa chair with rounded arms in neutral beige fabric",
      "object_type": "furniture",
      "transform": {
        "translation": [
          1.1043097048613866,
          1.0925956371431151,
          -0.00012101671037221105
        ],
        "rotation_wxyz": [
          0.387887662047854,
          1.2649698152976227e-05,
          3.0058475020015035e-05,
          0.9217066564626312
        ]
      },
      "bbox_min": [
        -0.47968679666519165,
        -0.43668851256370544,
        0.0
      ],
      "bbox_max": [
        0.47968676686286926,
        0.38742247223854065,
        0.8999999761581421
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.sdf",
      "image_path": "generated_assets/furniture/images/sofa_chair_1777389191022.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_chair_1777389191022/sofa_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 25.0,
            "inertia_pose": [
              -0.0,
              -0.079607,
              0.408021,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 2.104476,
              "ixy": 3.192198e-08,
              "ixz": -4.110298e-08,
              "iyy": 2.307138,
              "iyz": 0.3229802,
              "izz": 2.84066
            },
            "collision_meshes": [
              "sofa_chair_collision_0.obj",
              "sofa_chair_collision_1.obj",
              "sofa_chair_collision_2.obj",
              "sofa_chair_collision_3.obj",
              "sofa_chair_collision_4.obj",
              "sofa_chair_collision_5.obj",
              "sofa_chair_collision_6.obj",
              "sofa_chair_collision_7.obj",
              "sofa_chair_collision_8.obj",
              "sofa_chair_collision_9.obj",
              "sofa_chair_collision_10.obj",
              "sofa_chair_collision_11.obj",
              "sofa_chair_collision_12.obj",
              "sofa_chair_collision_13.obj",
              "sofa_chair_collision_14.obj",
              "sofa_chair_collision_15.obj",
              "sofa_chair_collision_16.obj",
              "sofa_chair_collision_17.obj",
              "sofa_chair_collision_18.obj",
              "sofa_chair_collision_19.obj",
              "sofa_chair_collision_20.obj",
              "sofa_chair_collision_21.obj",
              "sofa_chair_collision_22.obj",
              "sofa_chair_collision_23.obj",
              "sofa_chair_collision_24.obj",
              "sofa_chair_collision_25.obj",
              "sofa_chair_collision_26.obj",
              "sofa_chair_collision_27.obj",
              "sofa_chair_collision_28.obj",
              "sofa_chair_collision_29.obj",
              "sofa_chair_collision_30.obj",
              "sofa_chair_collision_31.obj",
              "sofa_chair_collision_32.obj",
              "sofa_chair_collision_33.obj",
              "sofa_chair_collision_34.obj",
              "sofa_chair_collision_35.obj",
              "sofa_chair_collision_36.obj",
              "sofa_chair_collision_37.obj",
              "sofa_chair_collision_38.obj",
              "sofa_chair_collision_39.obj",
              "sofa_chair_collision_40.obj",
              "sofa_chair_collision_41.obj",
              "sofa_chair_collision_42.obj",
              "sofa_chair_collision_43.obj",
              "sofa_chair_collision_44.obj",
              "sofa_chair_collision_45.obj",
              "sofa_chair_collision_46.obj",
              "sofa_chair_collision_47.obj",
              "sofa_chair_collision_48.obj",
              "sofa_chair_collision_49.obj",
              "sofa_chair_collision_50.obj",
              "sofa_chair_collision_51.obj",
              "sofa_chair_collision_52.obj",
              "sofa_chair_collision_53.obj",
              "sofa_chair_collision_54.obj",
              "sofa_chair_collision_55.obj",
              "sofa_chair_collision_56.obj",
              "sofa_chair_collision_57.obj",
              "sofa_chair_collision_58.obj",
              "sofa_chair_collision_59.obj",
              "sofa_chair_collision_60.obj",
              "sofa_chair_collision_61.obj",
              "sofa_chair_collision_62.obj",
              "sofa_chair_collision_63.obj",
              "sofa_chair_collision_64.obj",
              "sofa_chair_collision_65.obj",
              "sofa_chair_collision_66.obj",
              "sofa_chair_collision_67.obj",
              "sofa_chair_collision_68.obj",
              "sofa_chair_collision_69.obj",
              "sofa_chair_collision_70.obj",
              "sofa_chair_collision_71.obj",
              "sofa_chair_collision_72.obj",
              "sofa_chair_collision_73.obj",
              "sofa_chair_collision_74.obj",
              "sofa_chair_collision_75.obj",
              "sofa_chair_collision_76.obj",
              "sofa_chair_collision_77.obj",
              "sofa_chair_collision_78.obj",
              "sofa_chair_collision_79.obj",
              "sofa_chair_collision_80.obj",
              "sofa_chair_collision_81.obj",
              "sofa_chair_collision_82.obj",
              "sofa_chair_collision_83.obj",
              "sofa_chair_collision_84.obj",
              "sofa_chair_collision_85.obj",
              "sofa_chair_collision_86.obj",
              "sofa_chair_collision_87.obj",
              "sofa_chair_collision_88.obj",
              "sofa_chair_collision_89.obj",
              "sofa_chair_collision_90.obj",
              "sofa_chair_collision_91.obj",
              "sofa_chair_collision_92.obj",
              "sofa_chair_collision_93.obj",
              "sofa_chair_collision_94.obj",
              "sofa_chair_collision_95.obj",
              "sofa_chair_collision_96.obj",
              "sofa_chair_collision_97.obj",
              "sofa_chair_collision_98.obj",
              "sofa_chair_collision_99.obj",
              "sofa_chair_collision_100.obj",
              "sofa_chair_collision_101.obj",
              "sofa_chair_collision_102.obj",
              "sofa_chair_collision_103.obj",
              "sofa_chair_collision_104.obj",
              "sofa_chair_collision_105.obj",
              "sofa_chair_collision_106.obj",
              "sofa_chair_collision_107.obj",
              "sofa_chair_collision_108.obj",
              "sofa_chair_collision_109.obj",
              "sofa_chair_collision_110.obj",
              "sofa_chair_collision_111.obj",
              "sofa_chair_collision_112.obj",
              "sofa_chair_collision_113.obj",
              "sofa_chair_collision_114.obj",
              "sofa_chair_collision_115.obj",
              "sofa_chair_collision_116.obj",
              "sofa_chair_collision_117.obj",
              "sofa_chair_collision_118.obj",
              "sofa_chair_collision_119.obj",
              "sofa_chair_collision_120.obj",
              "sofa_chair_collision_121.obj",
              "sofa_chair_collision_122.obj",
              "sofa_chair_collision_123.obj",
              "sofa_chair_collision_124.obj",
              "sofa_chair_collision_125.obj",
              "sofa_chair_collision_126.obj",
              "sofa_chair_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "sofa_chair_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "sofa_chair_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "sofa_chair.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "sofa_chair.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "coffee_table_0",
      "room_id": "living_room",
      "name": "coffee_table",
      "description": "small rectangular wooden coffee table in warm oak",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.03418451106590767,
          1.2960762990962795,
          -0.0007641025984395745
        ],
        "rotation_wxyz": [
          0.9999600208620627,
          -2.64733796536865e-05,
          -0.00040295175704027766,
          -0.008932726716099681
        ]
      },
      "bbox_min": [
        -0.3499999940395355,
        -0.21000000834465027,
        0.0
      ],
      "bbox_max": [
        0.3499999940395355,
        0.21000000834465027,
        0.3149999976158142
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/coffee_table_1777397612589/coffee_table.glb",
      "sdf_path": "generated_assets/furniture/sdf/coffee_table_1777397612589/coffee_table.sdf",
      "image_path": "generated_assets/furniture/images/coffee_table_1777397612589.png",
      "support_surfaces": [
        {
          "surface_id": "S_1",
          "bounding_box_min": [
            -0.3482477068901062,
            -0.20824772119522095,
            0.01
          ],
          "bounding_box_max": [
            0.3482477068901062,
            0.20824772119522095,
            0.5
          ],
          "transform": {
            "translation": [
              0.03392275660868593,
              1.2960958457526137,
              0.3242357890212525
            ],
            "rotation_wxyz": [
              0.9999600208620627,
              -2.64733796536865e-05,
              -0.00040295175704027766,
              -0.008932726716099681
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.3465000092983246,
                -0.20650000870227814,
                -0.010000000000000009
              ],
              [
                -0.3482477068901062,
                -0.20650000870227814,
                -0.010000000000000009
              ],
              [
                -0.3465000092983246,
                -0.20824772119522095,
                -0.010000000000000009
              ],
              [
                -0.34817373752593994,
                -0.20817376673221588,
                -0.010000000000000009
              ],
              [
                -0.3465000092983246,
                0.20650000870227814,
                -0.010000000000000009
              ],
              [
                -0.3465000092983246,
                0.20824772119522095,
                -0.010000000000000009
              ],
              [
                -0.3482477068901062,
                0.20650000870227814,
                -0.010000000000000009
              ],
              [
                -0.34817373752593994,
                0.20817376673221588,
                -0.010000000000000009
              ],
              [
                0.3465000092983246,
                -0.20650000870227814,
                -0.010000000000000009
              ],
              [
                0.3465000092983246,
                -0.20824772119522095,
                -0.010000000000000009
              ],
              [
                0.3482477068901062,
                -0.20650000870227814,
                -0.010000000000000009
              ],
              [
                0.34817373752593994,
                -0.20817376673221588,
                -0.010000000000000009
              ],
              [
                0.3465000092983246,
                0.20650000870227814,
                -0.010000000000000009
              ],
              [
                0.3482477068901062,
                0.20650000870227814,
                -0.010000000000000009
              ],
              [
                0.3465000092983246,
                0.20824772119522095,
                -0.010000000000000009
              ],
              [
                0.34817373752593994,
                0.20817376673221588,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                12,
                8,
                10
              ],
              [
                12,
                10,
                13
              ],
              [
                12,
                4,
                0
              ],
              [
                12,
                0,
                8
              ],
              [
                12,
                15,
                14
              ],
              [
                12,
                13,
                15
              ],
              [
                8,
                9,
                11
              ],
              [
                8,
                11,
                10
              ],
              [
                4,
                12,
                14
              ],
              [
                4,
                14,
                5
              ],
              [
                4,
                7,
                6
              ],
              [
                4,
                5,
                7
              ],
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ],
              [
                0,
                1,
                3
              ],
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ]
            ]
          }
        },
        {
          "surface_id": "S_2",
          "bounding_box_min": [
            -0.32024767994880676,
            -0.1802476942539215,
            0.01
          ],
          "bounding_box_max": [
            0.32024767994880676,
            0.1802476942539215,
            0.1810782146929772
          ],
          "transform": {
            "translation": [
              0.03408625246615314,
              1.2960836366106112,
              0.12123586106931486
            ],
            "rotation_wxyz": [
              0.9999600208620627,
              -2.64733796536865e-05,
              -0.00040295175704027766,
              -0.008932726716099681
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.31850001215934753,
                -0.1784999966621399,
                -0.009999999999999995
              ],
              [
                -0.32024767994880676,
                -0.1784999966621399,
                -0.009999999999999995
              ],
              [
                -0.31849998235702515,
                -0.1802476942539215,
                -0.009999999999999995
              ],
              [
                -0.3201737403869629,
                -0.18017373979091644,
                -0.009999999999999995
              ],
              [
                -0.31850001215934753,
                0.1784999966621399,
                -0.009999999999999995
              ],
              [
                -0.31849998235702515,
                0.1802476942539215,
                -0.009999999999999995
              ],
              [
                -0.32024767994880676,
                0.1784999966621399,
                -0.009999999999999995
              ],
              [
                -0.3201737403869629,
                0.18017373979091644,
                -0.009999999999999995
              ],
              [
                0.31850001215934753,
                -0.1784999966621399,
                -0.009999999999999995
              ],
              [
                0.31849998235702515,
                -0.1802476942539215,
                -0.009999999999999995
              ],
              [
                0.32024767994880676,
                -0.1784999966621399,
                -0.009999999999999995
              ],
              [
                0.3201737403869629,
                -0.18017373979091644,
                -0.009999999999999995
              ],
              [
                0.31850001215934753,
                0.1784999966621399,
                -0.009999999999999995
              ],
              [
                0.32024767994880676,
                0.1784999966621399,
                -0.009999999999999995
              ],
              [
                0.31849998235702515,
                0.1802476942539215,
                -0.009999999999999995
              ],
              [
                0.3201737403869629,
                0.18017373979091644,
                -0.009999999999999995
              ]
            ],
            "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_living_room/generated_assets/furniture/sdf/coffee_table_1777397612589/coffee_table.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/coffee_table_1777397612589/coffee_table.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 14.0,
            "inertia_pose": [
              0.0,
              0.0,
              0.224139,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.3537406,
              "ixy": 2.526309e-14,
              "ixz": 1.578124e-08,
              "iyy": 0.8043088,
              "iyz": -7.812066e-09,
              "izz": 0.8992319
            },
            "collision_meshes": [
              "coffee_table_collision_0.obj",
              "coffee_table_collision_1.obj",
              "coffee_table_collision_2.obj",
              "coffee_table_collision_3.obj",
              "coffee_table_collision_4.obj",
              "coffee_table_collision_5.obj",
              "coffee_table_collision_6.obj",
              "coffee_table_collision_7.obj",
              "coffee_table_collision_8.obj",
              "coffee_table_collision_9.obj",
              "coffee_table_collision_10.obj",
              "coffee_table_collision_11.obj",
              "coffee_table_collision_12.obj",
              "coffee_table_collision_13.obj",
              "coffee_table_collision_14.obj",
              "coffee_table_collision_15.obj",
              "coffee_table_collision_16.obj",
              "coffee_table_collision_17.obj",
              "coffee_table_collision_18.obj",
              "coffee_table_collision_19.obj",
              "coffee_table_collision_20.obj",
              "coffee_table_collision_21.obj",
              "coffee_table_collision_22.obj",
              "coffee_table_collision_23.obj",
              "coffee_table_collision_24.obj",
              "coffee_table_collision_25.obj",
              "coffee_table_collision_26.obj",
              "coffee_table_collision_27.obj",
              "coffee_table_collision_28.obj",
              "coffee_table_collision_29.obj",
              "coffee_table_collision_30.obj",
              "coffee_table_collision_31.obj",
              "coffee_table_collision_32.obj",
              "coffee_table_collision_33.obj",
              "coffee_table_collision_34.obj",
              "coffee_table_collision_35.obj",
              "coffee_table_collision_36.obj",
              "coffee_table_collision_37.obj",
              "coffee_table_collision_38.obj",
              "coffee_table_collision_39.obj",
              "coffee_table_collision_40.obj",
              "coffee_table_collision_41.obj",
              "coffee_table_collision_42.obj",
              "coffee_table_collision_43.obj",
              "coffee_table_collision_44.obj",
              "coffee_table_collision_45.obj",
              "coffee_table_collision_46.obj",
              "coffee_table_collision_47.obj",
              "coffee_table_collision_48.obj",
              "coffee_table_collision_49.obj",
              "coffee_table_collision_50.obj",
              "coffee_table_collision_51.obj",
              "coffee_table_collision_52.obj",
              "coffee_table_collision_53.obj",
              "coffee_table_collision_54.obj",
              "coffee_table_collision_55.obj",
              "coffee_table_collision_56.obj",
              "coffee_table_collision_57.obj",
              "coffee_table_collision_58.obj",
              "coffee_table_collision_59.obj",
              "coffee_table_collision_60.obj",
              "coffee_table_collision_61.obj",
              "coffee_table_collision_62.obj",
              "coffee_table_collision_63.obj",
              "coffee_table_collision_64.obj",
              "coffee_table_collision_65.obj",
              "coffee_table_collision_66.obj",
              "coffee_table_collision_67.obj",
              "coffee_table_collision_68.obj",
              "coffee_table_collision_69.obj",
              "coffee_table_collision_70.obj",
              "coffee_table_collision_71.obj",
              "coffee_table_collision_72.obj",
              "coffee_table_collision_73.obj",
              "coffee_table_collision_74.obj",
              "coffee_table_collision_75.obj",
              "coffee_table_collision_76.obj",
              "coffee_table_collision_77.obj",
              "coffee_table_collision_78.obj",
              "coffee_table_collision_79.obj",
              "coffee_table_collision_80.obj",
              "coffee_table_collision_81.obj",
              "coffee_table_collision_82.obj",
              "coffee_table_collision_83.obj",
              "coffee_table_collision_84.obj",
              "coffee_table_collision_85.obj",
              "coffee_table_collision_86.obj",
              "coffee_table_collision_87.obj",
              "coffee_table_collision_88.obj",
              "coffee_table_collision_89.obj",
              "coffee_table_collision_90.obj",
              "coffee_table_collision_91.obj",
              "coffee_table_collision_92.obj",
              "coffee_table_collision_93.obj",
              "coffee_table_collision_94.obj",
              "coffee_table_collision_95.obj",
              "coffee_table_collision_96.obj",
              "coffee_table_collision_97.obj",
              "coffee_table_collision_98.obj",
              "coffee_table_collision_99.obj",
              "coffee_table_collision_100.obj",
              "coffee_table_collision_101.obj",
              "coffee_table_collision_102.obj",
              "coffee_table_collision_103.obj",
              "coffee_table_collision_104.obj",
              "coffee_table_collision_105.obj",
              "coffee_table_collision_106.obj",
              "coffee_table_collision_107.obj",
              "coffee_table_collision_108.obj",
              "coffee_table_collision_109.obj",
              "coffee_table_collision_110.obj",
              "coffee_table_collision_111.obj",
              "coffee_table_collision_112.obj",
              "coffee_table_collision_113.obj",
              "coffee_table_collision_114.obj",
              "coffee_table_collision_115.obj",
              "coffee_table_collision_116.obj",
              "coffee_table_collision_117.obj",
              "coffee_table_collision_118.obj",
              "coffee_table_collision_119.obj",
              "coffee_table_collision_120.obj",
              "coffee_table_collision_121.obj",
              "coffee_table_collision_122.obj",
              "coffee_table_collision_123.obj",
              "coffee_table_collision_124.obj",
              "coffee_table_collision_125.obj",
              "coffee_table_collision_126.obj",
              "coffee_table_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "coffee_table_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_64.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_65.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_66.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_67.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_68.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_69.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_70.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_71.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_72.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_73.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_74.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_75.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_76.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_77.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_78.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_79.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_80.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_81.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_82.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_83.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_84.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_85.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_86.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_87.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_88.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_89.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_90.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_91.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_92.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_93.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_94.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_95.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_96.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_97.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_98.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_99.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_100.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_101.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_102.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_103.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_104.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_105.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_106.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_107.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_108.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_109.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_110.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_111.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_112.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_113.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_114.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_115.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_116.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_117.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_118.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_119.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_120.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_121.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_122.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_123.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_124.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_125.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_126.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_collision_127.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "coffee_table.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "coffee_table.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "painting_0",
      "room_id": "living_room",
      "name": "painting",
      "description": "large abstract canvas painting in soft beige, taupe, and muted charcoal tones, modern living room style",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          0.0012605115168318193,
          -2.35,
          1.4498422761183622
        ],
        "rotation_wxyz": [
          0.999998214836236,
          -1.1570035498718997e-19,
          0.0018895301905454715,
          -6.123223064761321e-17
        ]
      },
      "bbox_min": [
        -0.375,
        -3.278353943869661e-08,
        -0.5
      ],
      "bbox_max": [
        0.375,
        0.040000032633543015,
        0.5
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/painting_1777400165464/painting.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/painting_1777400165464/painting.sdf",
      "image_path": "generated_assets/wall_mounted/images/painting_1777400165464.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "living_room_south",
        "position_2d": [
          2.748739488483168,
          1.4498422761183622
        ],
        "rotation_2d": 0.0037790626298397655,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777400165464/painting.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777400165464/painting.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.1,
            "inertia_pose": [
              0.0,
              0.019855,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.1009411,
              "ixy": -5.188532e-09,
              "ixz": -7.888687e-12,
              "iyy": 0.1592187,
              "iyz": -1.038402e-11,
              "izz": 0.05856641
            },
            "collision_meshes": [
              "painting_collision_0.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "painting_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "painting.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "painting.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "mirror_0",
      "room_id": "living_room",
      "name": "mirror",
      "description": "round wall mirror with thin black metal frame",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -1.7006989041960068,
          2.35,
          1.4727666663992847
        ],
        "rotation_wxyz": [
          6.123223506103723e-17,
          -0.0018509919567525584,
          -1.1334056875422582e-19,
          0.9999982869129208
        ]
      },
      "bbox_min": [
        -0.2750000059604645,
        -1.3446182833831699e-08,
        -0.2750000059604645
      ],
      "bbox_max": [
        0.2750000059604645,
        0.027500176802277565,
        0.2750000059604645
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/mirror_1777401210414/mirror.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/mirror_1777401210414/mirror.sdf",
      "image_path": "generated_assets/wall_mounted/images/mirror_1777401210414.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "living_room_north",
        "position_2d": [
          1.0493010958039932,
          1.4727666663992847
        ],
        "rotation_2d": 0.003701986027446835,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/mirror_1777401210414/mirror.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/mirror_1777401210414/mirror.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 3.5,
            "inertia_pose": [
              0.0,
              0.00912719,
              0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0359859,
              "ixy": -3.135532e-09,
              "ixz": -2.668567e-11,
              "iyy": 0.0717172,
              "iyz": -9.892452e-09,
              "izz": 0.0359859
            },
            "collision_meshes": [
              "mirror_collision_0.obj",
              "mirror_collision_1.obj",
              "mirror_collision_2.obj",
              "mirror_collision_3.obj",
              "mirror_collision_4.obj",
              "mirror_collision_5.obj",
              "mirror_collision_6.obj",
              "mirror_collision_7.obj",
              "mirror_collision_8.obj",
              "mirror_collision_9.obj",
              "mirror_collision_10.obj",
              "mirror_collision_11.obj",
              "mirror_collision_12.obj",
              "mirror_collision_13.obj",
              "mirror_collision_14.obj",
              "mirror_collision_15.obj",
              "mirror_collision_16.obj",
              "mirror_collision_17.obj",
              "mirror_collision_18.obj",
              "mirror_collision_19.obj",
              "mirror_collision_20.obj",
              "mirror_collision_21.obj",
              "mirror_collision_22.obj",
              "mirror_collision_23.obj",
              "mirror_collision_24.obj",
              "mirror_collision_25.obj",
              "mirror_collision_26.obj",
              "mirror_collision_27.obj",
              "mirror_collision_28.obj",
              "mirror_collision_29.obj",
              "mirror_collision_30.obj",
              "mirror_collision_31.obj",
              "mirror_collision_32.obj",
              "mirror_collision_33.obj",
              "mirror_collision_34.obj",
              "mirror_collision_35.obj",
              "mirror_collision_36.obj",
              "mirror_collision_37.obj",
              "mirror_collision_38.obj",
              "mirror_collision_39.obj",
              "mirror_collision_40.obj",
              "mirror_collision_41.obj",
              "mirror_collision_42.obj",
              "mirror_collision_43.obj",
              "mirror_collision_44.obj",
              "mirror_collision_45.obj",
              "mirror_collision_46.obj",
              "mirror_collision_47.obj",
              "mirror_collision_48.obj",
              "mirror_collision_49.obj",
              "mirror_collision_50.obj",
              "mirror_collision_51.obj",
              "mirror_collision_52.obj",
              "mirror_collision_53.obj",
              "mirror_collision_54.obj",
              "mirror_collision_55.obj",
              "mirror_collision_56.obj",
              "mirror_collision_57.obj",
              "mirror_collision_58.obj",
              "mirror_collision_59.obj",
              "mirror_collision_60.obj",
              "mirror_collision_61.obj",
              "mirror_collision_62.obj",
              "mirror_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mirror_collision_0.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_1.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_2.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_3.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_4.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_5.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_6.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_7.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_8.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_9.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_10.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_11.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_12.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_13.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_14.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_15.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_16.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_17.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_18.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_19.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_20.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_21.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_22.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_23.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_24.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_25.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_26.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_27.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_28.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_29.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_30.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_31.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_32.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_33.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_34.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_35.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_36.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_37.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_38.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_39.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_40.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_41.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_42.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_43.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_44.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_45.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_46.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_47.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_48.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_49.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_50.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_51.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_52.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_53.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_54.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_55.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_56.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_57.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_58.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_59.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_60.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_61.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_62.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              },
              {
                "uri": "mirror_collision_63.obj",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              }
            ],
            "friction": {
              "mu": 0.9,
              "mu2": 0.9
            },
            "visual_meshes": [
              "mirror.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mirror.gltf",
                "scale": [
                  0.73,
                  0.73,
                  0.73
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        0.73,
        0.73,
        0.73
      ]
    },
    {
      "object_id": "print_0",
      "room_id": "living_room",
      "name": "print",
      "description": "framed minimalist landscape print in neutral tones",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          2.7,
          -1.3063979241260406,
          1.4465772086688289
        ],
        "rotation_wxyz": [
          0.7070972462989714,
          -0.0036720942814284893,
          0.003672094281428488,
          0.7070972462989714
        ]
      },
      "bbox_min": [
        -0.20000000298023224,
        -1.7397132623386824e-08,
        -0.25
      ],
      "bbox_max": [
        0.20000000298023224,
        0.020000016316771507,
        0.25
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/print_1777401626208/print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/print_1777401626208/print.sdf",
      "image_path": "generated_assets/wall_mounted/images/print_1777401626208.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "living_room_east",
        "position_2d": [
          3.7063979241260405,
          1.4465772086688289
        ],
        "rotation_2d": 0.0103862977544777,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/print_1777401626208/print.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/print_1777401626208/print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.5,
            "inertia_pose": [
              0.0,
              0.007752,
              -7.9e-05,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.01303897,
              "ixy": -7.679138e-10,
              "ixz": -1.512226e-11,
              "iyy": 0.02176254,
              "iyz": 8.842255e-08,
              "izz": 0.008750917
            },
            "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": 0.32,
              "mu2": 0.32
            },
            "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": "abstract_print_0",
      "room_id": "living_room",
      "name": "abstract_print",
      "description": "framed vertical abstract print with beige and charcoal tones",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -2.7,
          0.9353082287510044,
          1.491386758581248
        ],
        "rotation_wxyz": [
          0.7071058060225064,
          -0.001174346312430844,
          -0.0011743463124308442,
          -0.7071058060225064
        ]
      },
      "bbox_min": [
        -0.28125,
        -2.445652391713793e-08,
        -0.375
      ],
      "bbox_max": [
        0.28125,
        0.030000023543834686,
        0.375
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/abstract_print_1777402117239/abstract_print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/abstract_print_1777402117239/abstract_print.sdf",
      "image_path": "generated_assets/wall_mounted/images/abstract_print_1777402117239.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "living_room_west",
        "position_2d": [
          3.3353082287510043,
          1.491386758581248
        ],
        "rotation_2d": -0.003321554490832967,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/abstract_print_1777402117239/abstract_print.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/abstract_print_1777402117239/abstract_print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              -0.0,
              0.017906,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.100358,
              "ixy": -5.19993e-09,
              "ixz": -1.165856e-11,
              "iyy": 0.1605267,
              "iyz": -2.015417e-10,
              "izz": 0.06031866
            },
            "collision_meshes": [
              "abstract_print_collision_0.obj",
              "abstract_print_collision_1.obj",
              "abstract_print_collision_2.obj",
              "abstract_print_collision_3.obj",
              "abstract_print_collision_4.obj",
              "abstract_print_collision_5.obj",
              "abstract_print_collision_6.obj",
              "abstract_print_collision_7.obj",
              "abstract_print_collision_8.obj",
              "abstract_print_collision_9.obj",
              "abstract_print_collision_10.obj",
              "abstract_print_collision_11.obj",
              "abstract_print_collision_12.obj",
              "abstract_print_collision_13.obj",
              "abstract_print_collision_14.obj",
              "abstract_print_collision_15.obj",
              "abstract_print_collision_16.obj",
              "abstract_print_collision_17.obj",
              "abstract_print_collision_18.obj",
              "abstract_print_collision_19.obj",
              "abstract_print_collision_20.obj",
              "abstract_print_collision_21.obj",
              "abstract_print_collision_22.obj",
              "abstract_print_collision_23.obj",
              "abstract_print_collision_24.obj",
              "abstract_print_collision_25.obj",
              "abstract_print_collision_26.obj",
              "abstract_print_collision_27.obj",
              "abstract_print_collision_28.obj",
              "abstract_print_collision_29.obj",
              "abstract_print_collision_30.obj",
              "abstract_print_collision_31.obj",
              "abstract_print_collision_32.obj",
              "abstract_print_collision_33.obj",
              "abstract_print_collision_34.obj",
              "abstract_print_collision_35.obj",
              "abstract_print_collision_36.obj",
              "abstract_print_collision_37.obj",
              "abstract_print_collision_38.obj",
              "abstract_print_collision_39.obj",
              "abstract_print_collision_40.obj",
              "abstract_print_collision_41.obj",
              "abstract_print_collision_42.obj",
              "abstract_print_collision_43.obj",
              "abstract_print_collision_44.obj",
              "abstract_print_collision_45.obj",
              "abstract_print_collision_46.obj",
              "abstract_print_collision_47.obj",
              "abstract_print_collision_48.obj",
              "abstract_print_collision_49.obj",
              "abstract_print_collision_50.obj",
              "abstract_print_collision_51.obj",
              "abstract_print_collision_52.obj",
              "abstract_print_collision_53.obj",
              "abstract_print_collision_54.obj",
              "abstract_print_collision_55.obj",
              "abstract_print_collision_56.obj",
              "abstract_print_collision_57.obj",
              "abstract_print_collision_58.obj",
              "abstract_print_collision_59.obj",
              "abstract_print_collision_60.obj",
              "abstract_print_collision_61.obj",
              "abstract_print_collision_62.obj",
              "abstract_print_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "abstract_print_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "abstract_print_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "abstract_print.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "abstract_print.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "chandelier_0",
      "room_id": "living_room",
      "name": "chandelier",
      "description": "Contemporary semi-flush drum chandelier with warm fabric shade and soft diffuser",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          0.05997304255378202,
          0.004233296705468596,
          2.7
        ],
        "rotation_wxyz": [
          0.999994900378006,
          0.0,
          0.0,
          -0.003193621452515382
        ]
      },
      "bbox_min": [
        -0.4000000059604645,
        -0.4000000059604645,
        -0.5517241954803467
      ],
      "bbox_max": [
        0.4000000059604645,
        0.4000000059604645,
        -1.7617136194303384e-08
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/chandelier_1777403752767/chandelier.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/chandelier_1777403752767/chandelier.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/chandelier_1777403752767.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/chandelier_1777403752767/chandelier.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/chandelier_1777403752767/chandelier.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.5,
            "inertia_pose": [
              0.0,
              -0.0,
              -0.31235,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.2161975,
              "ixy": 6.865756e-14,
              "ixz": 6.231031e-18,
              "iyy": 0.2161975,
              "iyz": -8.302121e-17,
              "izz": 0.2231938
            },
            "collision_meshes": [
              "chandelier_collision_0.obj",
              "chandelier_collision_1.obj",
              "chandelier_collision_2.obj",
              "chandelier_collision_3.obj",
              "chandelier_collision_4.obj",
              "chandelier_collision_5.obj",
              "chandelier_collision_6.obj",
              "chandelier_collision_7.obj",
              "chandelier_collision_8.obj",
              "chandelier_collision_9.obj",
              "chandelier_collision_10.obj",
              "chandelier_collision_11.obj",
              "chandelier_collision_12.obj",
              "chandelier_collision_13.obj",
              "chandelier_collision_14.obj",
              "chandelier_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "chandelier_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "chandelier.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "chandelier.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "ceiling_light_0",
      "room_id": "living_room",
      "name": "ceiling_light",
      "description": "Slim linear ceiling light with warm contemporary finish for ambient living room lighting",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          -0.00254945508592149,
          -1.1921933966848666,
          2.7
        ],
        "rotation_wxyz": [
          0.9999990738628849,
          0.0,
          0.0,
          -0.0013609825026277942
        ]
      },
      "bbox_min": [
        -1.1999999284744263,
        -0.05999999865889549,
        -0.11999999731779099
      ],
      "bbox_max": [
        1.1999999284744263,
        0.05999999865889549,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777404309643/ceiling_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777404309643/ceiling_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/ceiling_light_1777404309643.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777404309643/ceiling_light.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777404309643/ceiling_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              0.0,
              0.0,
              -0.063969,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.004450461,
              "ixy": 1.021978e-15,
              "ixz": -8.15941e-18,
              "iyy": 0.8648428,
              "iyz": -4.977609e-20,
              "izz": 0.8645854
            },
            "collision_meshes": [
              "ceiling_light_collision_0.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "ceiling_light_collision_0.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": "coffee_table_book_0",
      "room_id": "living_room",
      "name": "coffee_table_book",
      "description": "modern hardcover coffee table book with neutral beige cover",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.10575044897864834,
          0.245107087116444,
          0.5384016266363303
        ],
        "rotation_wxyz": [
          0.9921030117978825,
          -6.605784405429813e-05,
          -0.000512053707848188,
          -0.12542466830305862
        ]
      },
      "bbox_min": [
        -0.12999999523162842,
        -0.16249999403953552,
        0.0
      ],
      "bbox_max": [
        0.12999999523162842,
        0.16249999403953552,
        0.032499995082616806
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/coffee_table_book_1777405578246/coffee_table_book.glb",
      "sdf_path": "generated_assets/manipuland/sdf/coffee_table_book_1777405578246/coffee_table_book.sdf",
      "image_path": "generated_assets/manipuland/images/coffee_table_book_1777405578246.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.15,
          0.04
        ],
        "rotation_2d": -0.20943951023931956,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/coffee_table_book_1777405578246/coffee_table_book.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/coffee_table_book_1777405578246/coffee_table_book.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.4,
            "inertia_pose": [
              -0.002301,
              -0.0,
              0.01625,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.01158026,
              "ixy": 5.266194e-09,
              "ixz": 1.141116e-09,
              "iyy": 0.007398736,
              "iyz": 3.234616e-09,
              "izz": 0.01876116
            },
            "collision_meshes": [
              "coffee_table_book_collision_0.obj",
              "coffee_table_book_collision_1.obj",
              "coffee_table_book_collision_2.obj",
              "coffee_table_book_collision_3.obj",
              "coffee_table_book_collision_4.obj",
              "coffee_table_book_collision_5.obj",
              "coffee_table_book_collision_6.obj",
              "coffee_table_book_collision_7.obj",
              "coffee_table_book_collision_8.obj",
              "coffee_table_book_collision_9.obj",
              "coffee_table_book_collision_10.obj",
              "coffee_table_book_collision_11.obj",
              "coffee_table_book_collision_12.obj",
              "coffee_table_book_collision_13.obj",
              "coffee_table_book_collision_14.obj",
              "coffee_table_book_collision_15.obj",
              "coffee_table_book_collision_16.obj",
              "coffee_table_book_collision_17.obj",
              "coffee_table_book_collision_18.obj",
              "coffee_table_book_collision_19.obj",
              "coffee_table_book_collision_20.obj",
              "coffee_table_book_collision_21.obj",
              "coffee_table_book_collision_22.obj",
              "coffee_table_book_collision_23.obj",
              "coffee_table_book_collision_24.obj",
              "coffee_table_book_collision_25.obj",
              "coffee_table_book_collision_26.obj",
              "coffee_table_book_collision_27.obj",
              "coffee_table_book_collision_28.obj",
              "coffee_table_book_collision_29.obj",
              "coffee_table_book_collision_30.obj",
              "coffee_table_book_collision_31.obj",
              "coffee_table_book_collision_32.obj",
              "coffee_table_book_collision_33.obj",
              "coffee_table_book_collision_34.obj",
              "coffee_table_book_collision_35.obj",
              "coffee_table_book_collision_36.obj",
              "coffee_table_book_collision_37.obj",
              "coffee_table_book_collision_38.obj",
              "coffee_table_book_collision_39.obj",
              "coffee_table_book_collision_40.obj",
              "coffee_table_book_collision_41.obj",
              "coffee_table_book_collision_42.obj",
              "coffee_table_book_collision_43.obj",
              "coffee_table_book_collision_44.obj",
              "coffee_table_book_collision_45.obj",
              "coffee_table_book_collision_46.obj",
              "coffee_table_book_collision_47.obj",
              "coffee_table_book_collision_48.obj",
              "coffee_table_book_collision_49.obj",
              "coffee_table_book_collision_50.obj",
              "coffee_table_book_collision_51.obj",
              "coffee_table_book_collision_52.obj",
              "coffee_table_book_collision_53.obj",
              "coffee_table_book_collision_54.obj",
              "coffee_table_book_collision_55.obj",
              "coffee_table_book_collision_56.obj",
              "coffee_table_book_collision_57.obj",
              "coffee_table_book_collision_58.obj",
              "coffee_table_book_collision_59.obj",
              "coffee_table_book_collision_60.obj",
              "coffee_table_book_collision_61.obj",
              "coffee_table_book_collision_62.obj",
              "coffee_table_book_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "coffee_table_book_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "coffee_table_book_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.32,
              "mu2": 0.32
            },
            "visual_meshes": [
              "coffee_table_book.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "coffee_table_book.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "decorative_tray_0",
      "room_id": "living_room",
      "name": "decorative_tray",
      "description": "slim rectangular black metal decorative tray",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.21871036221244042,
          0.193760233626052,
          0.5380903167643164
        ],
        "rotation_wxyz": [
          0.9976251277773123,
          -0.00016340801213391156,
          -0.0004897140859065504,
          0.06887552471841592
        ]
      },
      "bbox_min": [
        -0.14000000059604645,
        -0.06300000101327896,
        0.0
      ],
      "bbox_max": [
        0.14000000059604645,
        0.06300000101327896,
        0.03359999880194664
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/decorative_tray_1777404917910/decorative_tray.glb",
      "sdf_path": "generated_assets/manipuland/sdf/decorative_tray_1777404917910/decorative_tray.sdf",
      "image_path": "generated_assets/manipuland/images/decorative_tray_1777404917910.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.18,
          -0.03
        ],
        "rotation_2d": 0.13962634015954636,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/decorative_tray_1777404917910/decorative_tray.glb",
      "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/decorative_tray_1777404917910/decorative_tray.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.3,
            "inertia_pose": [
              -0.0,
              -0.0,
              0.00706,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.001898969,
              "ixy": 4.294949e-18,
              "ixz": 8.426248e-12,
              "iyy": 0.008868159,
              "iyz": 2.691477e-11,
              "izz": 0.0106528
            },
            "collision_meshes": [
              "decorative_tray_collision_0.obj",
              "decorative_tray_collision_1.obj",
              "decorative_tray_collision_2.obj",
              "decorative_tray_collision_3.obj",
              "decorative_tray_collision_4.obj",
              "decorative_tray_collision_5.obj",
              "decorative_tray_collision_6.obj",
              "decorative_tray_collision_7.obj",
              "decorative_tray_collision_8.obj",
              "decorative_tray_collision_9.obj",
              "decorative_tray_collision_10.obj",
              "decorative_tray_collision_11.obj",
              "decorative_tray_collision_12.obj",
              "decorative_tray_collision_13.obj",
              "decorative_tray_collision_14.obj",
              "decorative_tray_collision_15.obj",
              "decorative_tray_collision_16.obj",
              "decorative_tray_collision_17.obj",
              "decorative_tray_collision_18.obj",
              "decorative_tray_collision_19.obj",
              "decorative_tray_collision_20.obj",
              "decorative_tray_collision_21.obj",
              "decorative_tray_collision_22.obj",
              "decorative_tray_collision_23.obj",
              "decorative_tray_collision_24.obj",
              "decorative_tray_collision_25.obj",
              "decorative_tray_collision_26.obj",
              "decorative_tray_collision_27.obj",
              "decorative_tray_collision_28.obj",
              "decorative_tray_collision_29.obj",
              "decorative_tray_collision_30.obj",
              "decorative_tray_collision_31.obj",
              "decorative_tray_collision_32.obj",
              "decorative_tray_collision_33.obj",
              "decorative_tray_collision_34.obj",
              "decorative_tray_collision_35.obj",
              "decorative_tray_collision_36.obj",
              "decorative_tray_collision_37.obj",
              "decorative_tray_collision_38.obj",
              "decorative_tray_collision_39.obj",
              "decorative_tray_collision_40.obj",
              "decorative_tray_collision_41.obj",
              "decorative_tray_collision_42.obj",
              "decorative_tray_collision_43.obj",
              "decorative_tray_collision_44.obj",
              "decorative_tray_collision_45.obj",
              "decorative_tray_collision_46.obj",
              "decorative_tray_collision_47.obj",
              "decorative_tray_collision_48.obj",
              "decorative_tray_collision_49.obj",
              "decorative_tray_collision_50.obj",
              "decorative_tray_collision_51.obj",
              "decorative_tray_collision_52.obj",
              "decorative_tray_collision_53.obj",
              "decorative_tray_collision_54.obj",
              "decorative_tray_collision_55.obj",
              "decorative_tray_collision_56.obj",
              "decorative_tray_collision_57.obj",
              "decorative_tray_collision_58.obj",
              "decorative_tray_collision_59.obj",
              "decorative_tray_collision_60.obj",
              "decorative_tray_collision_61.obj",
              "decorative_tray_collision_62.obj",
              "decorative_tray_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "decorative_tray_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "decorative_tray_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "decorative_tray.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "decorative_tray.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "stack_0",
      "room_id": "living_room",
      "name": "stack_2",
      "description": "Stack of 2 objects: coffee_table_book, decorative_tray",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.054091906114274876,
          1.3057376721263363,
          0.3142442985103159
        ],
        "rotation_wxyz": [
          0.9969329485784124,
          -0.00012665538566610892,
          -0.0005642370048512792,
          0.07825830073396882
        ]
      },
      "bbox_min": [
        -0.12700245212727226,
        -0.14775065366546425,
        -9.939733153829788e-05
      ],
      "bbox_max": [
        0.127007109182173,
        0.14774836750857379,
        0.05048571344658781
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": null,
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.02,
          0.01
        ],
        "rotation_2d": 0.17453292519943295,
        "placement_method": "stack_placement"
      }
    },
    {
      "object_id": "window_1",
      "room_id": "living_room",
      "name": "window_1",
      "description": "Room geometry window_1",
      "object_type": "window",
      "transform": {
        "translation": [
          0.4515641627517355,
          2.375,
          1.45
        ],
        "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/living_room/windows/window_1/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/windows/window_1/window.gltf"
    },
    {
      "object_id": "north_wall_exterior",
      "room_id": "living_room",
      "name": "north_wall_exterior",
      "description": "Room geometry north_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          2.425,
          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/living_room/walls/north_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/walls/north_wall_exterior/wall.gltf"
    },
    {
      "object_id": "south_wall_exterior",
      "room_id": "living_room",
      "name": "south_wall_exterior",
      "description": "Room geometry south_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          -2.425,
          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/living_room/walls/south_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/walls/south_wall_exterior/wall.gltf"
    },
    {
      "object_id": "window_2",
      "room_id": "living_room",
      "name": "window_2",
      "description": "Room geometry window_2",
      "object_type": "window",
      "transform": {
        "translation": [
          2.725,
          0.5020482103296398,
          1.45
        ],
        "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/living_room/windows/window_2/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/windows/window_2/window.gltf"
    },
    {
      "object_id": "east_wall_exterior",
      "room_id": "living_room",
      "name": "east_wall_exterior",
      "description": "Room geometry east_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          2.775,
          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/living_room/walls/east_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/walls/east_wall_exterior/wall.gltf"
    },
    {
      "object_id": "west_wall_exterior",
      "room_id": "living_room",
      "name": "west_wall_exterior",
      "description": "Room geometry west_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          -2.775,
          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/living_room/walls/west_wall_exterior/wall.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/living_room/walls/west_wall_exterior/wall.gltf"
    },
    {
      "object_id": "floor_living_room",
      "room_id": "living_room",
      "name": "Floor",
      "description": "Floor surface",
      "object_type": "floor",
      "transform": {
        "translation": [
          0.0,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.75,
        -2.4,
        -0.1
      ],
      "bbox_max": [
        2.75,
        2.4,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "/mnt/petrelfs/songhan/puyi.wang/Code_Scene_workspace/outputs/scene_033/floor_plans/living_room/floors/floor.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "floor_plans/living_room/floors/floor.gltf"
    }
  ]
}