{ "scene_dir": "scene_044", "layout": { "wall_height": 2.5, "house_prompt": "The room is dimly lit, creating a somber atmosphere in a cozy and well-furnished living room. In the center of the room, there is a dining table with four wooden dining chairs arranged neatly around it. The table appears to be set, indicating a recent meal or gathering. Adjacent to the dining area, There is a glass coffee table serving as a centerpiece for the seating arrangement. It is both stylish and practical, providing a surface for drinks or decor. A multi-seat sofa is in front of the coffee table, providing ample seating for guests. Completing the seating options, two comfortable armchairs also face the coffee table on opposite sides near the sofa. Next to the sofa and each armchair is a corner side table, adding a touch of functionality and convenience. Each table has a lamp on it for lighting. The sofa and seating arrangement should face an opposite wall, against which someone in the scene could view a large flatscreen TV. The TV is supported by a TV stand with storage underneath for various books. The room appears to reflect the inhabitants' taste for a warm and inviting environment, despite the unsettling news program playing on the TV in the background. The juxtaposition of the serene living room with the chaos and screams on the TV screen creates a sense of tension and unease." }, "rooms": { "living_room": { "room_id": "living_room", "text_description": "The room is dimly lit, creating a somber atmosphere in a cozy and well-furnished living room. In the center of the room, there is a dining table with four wooden dining chairs arranged neatly around it. The table appears to be set, indicating a recent meal or gathering. Adjacent to the dining area, There is a glass coffee table serving as a centerpiece for the seating arrangement. It is both stylish and practical, providing a surface for drinks or decor. A multi-seat sofa is in front of the coffee table, providing ample seating for guests. Completing the seating options, two comfortable armchairs also face the coffee table on opposite sides near the sofa. Next to the sofa and each armchair is a corner side table, adding a touch of functionality and convenience. Each table has a lamp on it for lighting. The sofa and seating arrangement should face an opposite wall, against which someone in the scene could view a large flatscreen TV. The TV is supported by a TV stand with storage underneath for various books. The room appears to reflect the inhabitants' taste for a warm and inviting environment, despite the unsettling news program playing on the TV in the background. The juxtaposition of the serene living room with the chaos and screams on the TV screen creates a sense of tension and unease.", "width": 5.6, "length": 6.8, "wall_height": 2.5, "offset": [ 3.4, 2.8 ] } }, "objects": [ { "object_id": "north_wall", "room_id": "living_room", "name": "north_wall", "description": "Room north_wall", "object_type": "wall", "transform": { "translation": [ 0.0, 2.775, 0.0 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, 0.0 ] }, "bbox_min": [ -3.4, -0.025, 0.0 ], "bbox_max": [ 3.4, 0.025, 2.5 ], "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, -2.775, 0.0 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, 0.0 ] }, "bbox_min": [ -3.4, -0.025, 0.0 ], "bbox_max": [ 3.4, 0.025, 2.5 ], "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": [ 3.375, 0.0, 0.0 ], "rotation_wxyz": [ 0.7071054825112363, 0.0, 0.0, 0.7071080798594735 ] }, "bbox_min": [ -0.025, -2.8, 0.0 ], "bbox_max": [ 0.025, 2.8, 2.5 ], "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": [ -3.375, 0.0, 0.0 ], "rotation_wxyz": [ 0.7071054825112363, 0.0, 0.0, 0.7071080798594735 ] }, "bbox_min": [ -0.025, -2.8, 0.0 ], "bbox_max": [ 0.025, 2.8, 2.5 ], "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": "tv_stand_0", "room_id": "living_room", "name": "tv_stand", "description": "warm wood TV stand with storage underneath for books", "object_type": "furniture", "transform": { "translation": [ 0.020001570510574877, -2.4419054691505853, -0.000623152380288859 ], "rotation_wxyz": [ 0.9999992810042564, 0.0011441180391121534, 0.0003438894796786583, -0.00010356113433663452 ] }, "bbox_min": [ -0.8571426868438721, -0.30000001192092896, 0.0 ], "bbox_max": [ 0.8571426868438721, 0.30000001192092896, 0.7714284062385559 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/tv_stand_1777487965462/tv_stand.glb", "sdf_path": "generated_assets/furniture/sdf/tv_stand_1777487965462/tv_stand.sdf", "image_path": "generated_assets/furniture/images/tv_stand_1777487965462.png", "support_surfaces": [ { "surface_id": "S_6", "bounding_box_min": [ -0.8554261922836304, -0.2982834279537201, 0.01 ], "bounding_box_max": [ 0.8554261922836304, 0.2982834279537201, 0.5 ], "transform": { "translation": [ 0.020538834963300227, -2.443693616195592, 0.7808030232457793 ], "rotation_wxyz": [ 0.9999992810042564, 0.0011441180391121534, 0.0003438894796786583, -0.00010356113433663452 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.8537140488624573, 0.29657143354415894, -0.010000000000000009 ], [ 0.8554261326789856, 0.29657140374183655, -0.010000000000000009 ], [ 0.853714108467102, 0.2982834279537201, -0.010000000000000009 ], [ 0.8553536534309387, 0.2982109785079956, -0.010000000000000009 ], [ 0.853714108467102, -0.296571284532547, -0.010000000000000009 ], [ 0.8537141680717468, -0.29828327894210815, -0.010000000000000009 ], [ 0.8554261922836304, -0.2965712547302246, -0.010000000000000009 ], [ 0.8553537130355835, -0.29821082949638367, -0.010000000000000009 ], [ -0.853714108467102, 0.296571284532547, -0.010000000000000009 ], [ -0.8537141680717468, 0.29828327894210815, -0.010000000000000009 ], [ -0.8554261922836304, 0.2965712547302246, -0.010000000000000009 ], [ -0.8553537130355835, 0.29821082949638367, -0.010000000000000009 ], [ -0.8537140488624573, -0.29657143354415894, -0.010000000000000009 ], [ -0.8554261326789856, -0.29657140374183655, -0.010000000000000009 ], [ -0.853714108467102, -0.2982834279537201, -0.010000000000000009 ], [ -0.8553536534309387, -0.2982109785079956, -0.010000000000000009 ] ], "faces": [ [ 8, 0, 2 ], [ 8, 2, 9 ], [ 0, 1, 3 ], [ 0, 3, 2 ], [ 0, 4, 6 ], [ 0, 6, 1 ], [ 12, 8, 10 ], [ 12, 10, 13 ], [ 12, 4, 0 ], [ 12, 0, 8 ], [ 12, 15, 14 ], [ 12, 13, 15 ], [ 4, 5, 7 ], [ 8, 9, 11 ], [ 8, 11, 10 ], [ 4, 12, 14 ], [ 4, 14, 5 ], [ 4, 7, 6 ] ] } }, { "surface_id": "S_7", "bounding_box_min": [ -0.7782832980155945, -0.2725691795349121, 0.01 ], "bounding_box_max": [ 0.7782832980155945, 0.2725691795349121, 0.2742856442928314 ], "transform": { "translation": [ 0.020134525564700564, -2.4595026703229634, 0.1979084486372193 ], "rotation_wxyz": [ 0.9999992810042564, 0.0011441180391121534, 0.0003438894796786583, -0.00010356113433663452 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.7765712210631398, 0.2708571476195387, -0.010000000000000009 ], [ 0.7782832452750233, 0.2708571476195387, -0.010000000000000009 ], [ 0.7765712210631398, 0.27256917183142226, -0.010000000000000009 ], [ 0.7782108256316213, 0.2724967223856978, -0.010000000000000009 ], [ 0.7765712806677846, -0.2708569842125841, -0.010000000000000009 ], [ 0.7765712806677846, -0.27256903822679, -0.010000000000000009 ], [ 0.7782833048796681, -0.2708569842125841, -0.010000000000000009 ], [ 0.778210885236266, -0.27249658878106553, -0.010000000000000009 ], [ -0.7765712669396373, 0.2708569986079268, -0.010000000000000009 ], [ -0.7765712669396373, 0.2725690526221327, -0.010000000000000009 ], [ -0.7782832911515208, 0.2708569986079268, -0.010000000000000009 ], [ -0.7782108715081187, 0.2724966031764082, -0.010000000000000009 ], [ -0.7765712073349925, -0.270857133224196, -0.010000000000000009 ], [ -0.7782832315468761, -0.270857133224196, -0.010000000000000009 ], [ -0.7765712073349925, -0.27256918723840196, -0.010000000000000009 ], [ -0.778210811903474, -0.27249673779267747, -0.010000000000000009 ] ], "faces": [ [ 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, 13, 15 ], [ 12, 8, 10 ], [ 12, 10, 13 ], [ 12, 4, 0 ], [ 12, 0, 8 ], [ 12, 15, 14 ] ] } }, { "surface_id": "S_8", "bounding_box_min": [ -0.7782832980155945, -0.2725691795349121, 0.01 ], "bounding_box_max": [ 0.7782832980155945, 0.2725691795349121, 0.2399999499320984 ], "transform": { "translation": [ 0.020346681163413392, -2.4602087758637836, 0.5064789064639852 ], "rotation_wxyz": [ 0.9999992810042564, 0.0011441180391121534, 0.0003438894796786583, -0.00010356113433663452 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.7765712210631547, 0.2708571476195543, -0.010000000000000009 ], [ 0.7782832452750382, 0.2708571476195543, -0.010000000000000009 ], [ 0.7765712210631547, 0.27256917183143786, -0.010000000000000009 ], [ 0.7782108256316361, 0.2724967223857134, -0.010000000000000009 ], [ 0.7765712806677995, -0.2708569842125685, -0.010000000000000009 ], [ 0.7765712806677995, -0.2725690382267744, -0.010000000000000009 ], [ 0.778283304879683, -0.2708569842125685, -0.010000000000000009 ], [ 0.7782108852362809, -0.27249658878104993, -0.010000000000000009 ], [ -0.7765712669396224, 0.2708569986079424, -0.010000000000000009 ], [ -0.7765712669396224, 0.2725690526221483, -0.010000000000000009 ], [ -0.778283291151506, 0.2708569986079424, -0.010000000000000009 ], [ -0.7782108715081039, 0.2724966031764238, -0.010000000000000009 ], [ -0.7765712073349776, -0.2708571332241804, -0.010000000000000009 ], [ -0.7782832315468612, -0.2708571332241804, -0.010000000000000009 ], [ -0.7765712073349776, -0.27256918723838636, -0.010000000000000009 ], [ -0.7782108119034591, -0.27249673779266187, -0.010000000000000009 ] ], "faces": [ [ 12, 8, 10 ], [ 12, 10, 13 ], [ 12, 4, 0 ], [ 12, 0, 8 ], [ 12, 15, 14 ], [ 12, 13, 15 ], [ 8, 9, 11 ], [ 8, 11, 10 ], [ 4, 12, 14 ], [ 4, 14, 5 ], [ 4, 7, 6 ], [ 4, 5, 7 ], [ 8, 0, 2 ], [ 8, 2, 9 ], [ 0, 1, 3 ], [ 0, 3, 2 ], [ 0, 4, 6 ], [ 0, 6, 1 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/tv_stand_1777487965462/tv_stand.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/tv_stand_1777487965462/tv_stand.sdf", "physics": { "links": { "base_link": { "mass": 18.0, "inertia_pose": [ -0.006927, -0.035879, 0.464349, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 1.526936, "ixy": 0.0001983286, "ixz": -0.01728595, "iyy": 5.831777, "iyz": -0.0001656404, "izz": 5.50184 }, "collision_meshes": [ "tv_stand_collision_0.obj", "tv_stand_collision_1.obj", "tv_stand_collision_2.obj", "tv_stand_collision_3.obj", "tv_stand_collision_4.obj", "tv_stand_collision_5.obj", "tv_stand_collision_6.obj", "tv_stand_collision_7.obj", "tv_stand_collision_8.obj", "tv_stand_collision_9.obj", "tv_stand_collision_10.obj", "tv_stand_collision_11.obj", "tv_stand_collision_12.obj", "tv_stand_collision_13.obj", "tv_stand_collision_14.obj", "tv_stand_collision_15.obj", "tv_stand_collision_16.obj", "tv_stand_collision_17.obj", "tv_stand_collision_18.obj", "tv_stand_collision_19.obj", "tv_stand_collision_20.obj", "tv_stand_collision_21.obj", "tv_stand_collision_22.obj", "tv_stand_collision_23.obj", "tv_stand_collision_24.obj", "tv_stand_collision_25.obj", "tv_stand_collision_26.obj", "tv_stand_collision_27.obj", "tv_stand_collision_28.obj", "tv_stand_collision_29.obj", "tv_stand_collision_30.obj", "tv_stand_collision_31.obj", "tv_stand_collision_32.obj", "tv_stand_collision_33.obj", "tv_stand_collision_34.obj", "tv_stand_collision_35.obj", "tv_stand_collision_36.obj", "tv_stand_collision_37.obj", "tv_stand_collision_38.obj", "tv_stand_collision_39.obj", "tv_stand_collision_40.obj", "tv_stand_collision_41.obj", "tv_stand_collision_42.obj", "tv_stand_collision_43.obj", "tv_stand_collision_44.obj", "tv_stand_collision_45.obj", "tv_stand_collision_46.obj", "tv_stand_collision_47.obj", "tv_stand_collision_48.obj", "tv_stand_collision_49.obj", "tv_stand_collision_50.obj", "tv_stand_collision_51.obj", "tv_stand_collision_52.obj", "tv_stand_collision_53.obj", "tv_stand_collision_54.obj", "tv_stand_collision_55.obj", "tv_stand_collision_56.obj", "tv_stand_collision_57.obj", "tv_stand_collision_58.obj", "tv_stand_collision_59.obj", "tv_stand_collision_60.obj", "tv_stand_collision_61.obj", "tv_stand_collision_62.obj", "tv_stand_collision_63.obj", "tv_stand_collision_64.obj", "tv_stand_collision_65.obj", "tv_stand_collision_66.obj", "tv_stand_collision_67.obj", "tv_stand_collision_68.obj", "tv_stand_collision_69.obj", "tv_stand_collision_70.obj", "tv_stand_collision_71.obj", "tv_stand_collision_72.obj", "tv_stand_collision_73.obj", "tv_stand_collision_74.obj", "tv_stand_collision_75.obj", "tv_stand_collision_76.obj", "tv_stand_collision_77.obj", "tv_stand_collision_78.obj", "tv_stand_collision_79.obj", "tv_stand_collision_80.obj", "tv_stand_collision_81.obj", "tv_stand_collision_82.obj", "tv_stand_collision_83.obj", "tv_stand_collision_84.obj", "tv_stand_collision_85.obj", "tv_stand_collision_86.obj", "tv_stand_collision_87.obj", "tv_stand_collision_88.obj", "tv_stand_collision_89.obj", "tv_stand_collision_90.obj", "tv_stand_collision_91.obj", "tv_stand_collision_92.obj", "tv_stand_collision_93.obj", "tv_stand_collision_94.obj", "tv_stand_collision_95.obj", "tv_stand_collision_96.obj", "tv_stand_collision_97.obj", "tv_stand_collision_98.obj", "tv_stand_collision_99.obj", "tv_stand_collision_100.obj", "tv_stand_collision_101.obj", "tv_stand_collision_102.obj", "tv_stand_collision_103.obj", "tv_stand_collision_104.obj", "tv_stand_collision_105.obj", "tv_stand_collision_106.obj", "tv_stand_collision_107.obj", "tv_stand_collision_108.obj", "tv_stand_collision_109.obj", "tv_stand_collision_110.obj", "tv_stand_collision_111.obj", "tv_stand_collision_112.obj", "tv_stand_collision_113.obj", "tv_stand_collision_114.obj", "tv_stand_collision_115.obj", "tv_stand_collision_116.obj", "tv_stand_collision_117.obj", "tv_stand_collision_118.obj", "tv_stand_collision_119.obj", "tv_stand_collision_120.obj", "tv_stand_collision_121.obj", "tv_stand_collision_122.obj", "tv_stand_collision_123.obj", "tv_stand_collision_124.obj", "tv_stand_collision_125.obj", "tv_stand_collision_126.obj", "tv_stand_collision_127.obj" ], "collision_mesh_info": [ { "uri": "tv_stand_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_stand_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "tv_stand.gltf" ], "visual_mesh_info": [ { "uri": "tv_stand.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": "three-seat cozy upholstered sofa in warm neutral fabric", "object_type": "furniture", "transform": { "translation": [ 0.03250234271573001, -0.5612031702302128, -0.00013617527741500984 ], "rotation_wxyz": [ 1.0522344943400334e-05, -7.818622764016207e-06, 4.680855416248453e-07, 0.9999999999139653 ] }, "bbox_min": [ -1.028672218322754, -0.4731892943382263, 0.0 ], "bbox_max": [ 1.028672218322754, 0.3908955156803131, 0.949999988079071 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/sofa_1777489158572/sofa.glb", "sdf_path": "generated_assets/furniture/sdf/sofa_1777489158572/sofa.sdf", "image_path": "generated_assets/furniture/images/sofa_1777489158572.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_1777489158572/sofa.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/sofa_1777489158572/sofa.sdf", "physics": { "links": { "base_link": { "mass": 48.0, "inertia_pose": [ 0.0, -0.071021, 0.36255, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 5.285016, "ixy": -1.298691e-06, "ixz": -1.522763e-07, "iyy": 19.37879, "iyz": 0.9118807, "izz": 19.81691 }, "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": "coffee_table_0", "room_id": "living_room", "name": "coffee_table", "description": "glass rectangular coffee table with slim dark frame", "object_type": "furniture", "transform": { "translation": [ 0.056733897375867766, -1.2332078247948401, -8.755803450622479e-05 ], "rotation_wxyz": [ 0.9999866273952946, 1.7005980883618768e-05, -4.818972174132196e-06, 0.0051715295762775415 ] }, "bbox_min": [ -0.550000011920929, -0.2750000059604645, 0.0 ], "bbox_max": [ 0.550000011920929, 0.2750000059604645, 0.4950000047683716 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/coffee_table_1777490590419/coffee_table.glb", "sdf_path": "generated_assets/furniture/sdf/coffee_table_1777490590419/coffee_table.sdf", "image_path": "generated_assets/furniture/images/coffee_table_1777490590419.png", "support_surfaces": [ { "surface_id": "S_1", "bounding_box_min": [ -0.5158985257148743, -0.24089856445789337, 0.01 ], "bounding_box_max": [ 0.5158985257148743, 0.24089856445789337, 0.5 ], "transform": { "translation": [ 0.05672910473588583, -1.2332250281754262, 0.5049124166157751 ], "rotation_wxyz": [ 0.9999866273952946, 1.7005980883618768e-05, -4.818972174132196e-06, 0.0051715295762775415 ] }, "link_name": null, "mesh": { "vertices": [ [ -0.5147999977177998, -0.2397999889990293, -0.010000000000000009 ], [ -0.5158985113210103, -0.2398000039001905, -0.010000000000000009 ], [ -0.5147999977177998, -0.24089856220688452, -0.010000000000000009 ], [ -0.5158520196980855, -0.2408520854851209, -0.010000000000000009 ], [ -0.5147999977177998, 0.239799993501047, -0.010000000000000009 ], [ -0.5147999977177998, 0.24089856670890222, -0.010000000000000009 ], [ -0.5158985113210103, 0.2398000084022082, -0.010000000000000009 ], [ -0.5158520196980855, 0.2408520899871386, -0.010000000000000009 ], [ 0.5148000265055278, -0.2397999889990293, -0.010000000000000009 ], [ 0.5148000265055278, -0.24089856220688452, -0.010000000000000009 ], [ 0.5158985401087383, -0.2398000039001905, -0.010000000000000009 ], [ 0.5158520484858135, -0.2408520854851209, -0.010000000000000009 ], [ 0.5148000265055278, 0.239799993501047, -0.010000000000000009 ], [ 0.5158984805040935, 0.2398000084022082, -0.010000000000000009 ], [ 0.5147999072962383, 0.24089856670890222, -0.010000000000000009 ], [ 0.5158519888811687, 0.2408520899871386, -0.010000000000000009 ] ], "faces": [ [ 12, 8, 10 ], [ 12, 10, 13 ], [ 12, 4, 0 ], [ 12, 0, 8 ], [ 12, 15, 14 ], [ 12, 13, 15 ], [ 8, 9, 11 ], [ 8, 11, 10 ], [ 4, 12, 14 ], [ 4, 14, 5 ], [ 4, 7, 6 ], [ 4, 5, 7 ], [ 8, 0, 2 ], [ 8, 2, 9 ], [ 0, 1, 3 ], [ 0, 3, 2 ], [ 0, 4, 6 ], [ 0, 6, 1 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/coffee_table_1777490590419/coffee_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/coffee_table_1777490590419/coffee_table.sdf", "physics": { "links": { "base_link": { "mass": 12.0, "inertia_pose": [ -0.0, 0.022065, 0.375019, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.8422138, "ixy": -8.174789e-10, "ixz": 9.380056e-10, "iyy": 2.20473, "iyz": 0.08473481, "izz": 2.297911 }, "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": "armchair_0", "room_id": "living_room", "name": "armchair", "description": "comfortable upholstered armchair in warm neutral fabric", "object_type": "furniture", "transform": { "translation": [ -1.450631566668946, -1.209401485520861, -0.0019300780761738467 ], "rotation_wxyz": [ 0.7060426181967531, 0.0006055580505508, 0.0005659819481760817, -0.7081688599859188 ] }, "bbox_min": [ -0.40525078773498535, -0.48313063383102417, 0.0 ], "bbox_max": [ 0.40525078773498535, 0.36686936020851135, 0.9336556196212769 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/armchair_1777491724525/armchair.glb", "sdf_path": "generated_assets/furniture/sdf/armchair_1777491724525/armchair.sdf", "image_path": "generated_assets/furniture/images/armchair_1777491724525.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/armchair_1777491724525/armchair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/armchair_1777491724525/armchair.sdf", "physics": { "links": { "base_link": { "mass": 26.0, "inertia_pose": [ 0.0, -0.114395, 0.390895, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 2.527271, "ixy": 1.408244e-08, "ixz": -4.627755e-08, "iyy": 2.536154, "iyz": 0.4393078, "izz": 2.987446 }, "collision_meshes": [ "armchair_collision_0.obj", "armchair_collision_1.obj", "armchair_collision_2.obj", "armchair_collision_3.obj", "armchair_collision_4.obj", "armchair_collision_5.obj", "armchair_collision_6.obj", "armchair_collision_7.obj", "armchair_collision_8.obj", "armchair_collision_9.obj", "armchair_collision_10.obj", "armchair_collision_11.obj", "armchair_collision_12.obj", "armchair_collision_13.obj", "armchair_collision_14.obj", "armchair_collision_15.obj", "armchair_collision_16.obj", "armchair_collision_17.obj", "armchair_collision_18.obj", "armchair_collision_19.obj", "armchair_collision_20.obj", "armchair_collision_21.obj", "armchair_collision_22.obj", "armchair_collision_23.obj", "armchair_collision_24.obj", "armchair_collision_25.obj", "armchair_collision_26.obj", "armchair_collision_27.obj", "armchair_collision_28.obj", "armchair_collision_29.obj", "armchair_collision_30.obj", "armchair_collision_31.obj", "armchair_collision_32.obj", "armchair_collision_33.obj", "armchair_collision_34.obj", "armchair_collision_35.obj", "armchair_collision_36.obj", "armchair_collision_37.obj", "armchair_collision_38.obj", "armchair_collision_39.obj", "armchair_collision_40.obj", "armchair_collision_41.obj", "armchair_collision_42.obj", "armchair_collision_43.obj", "armchair_collision_44.obj", "armchair_collision_45.obj", "armchair_collision_46.obj", "armchair_collision_47.obj", "armchair_collision_48.obj", "armchair_collision_49.obj", "armchair_collision_50.obj", "armchair_collision_51.obj", "armchair_collision_52.obj", "armchair_collision_53.obj", "armchair_collision_54.obj", "armchair_collision_55.obj", "armchair_collision_56.obj", "armchair_collision_57.obj", "armchair_collision_58.obj", "armchair_collision_59.obj", "armchair_collision_60.obj", "armchair_collision_61.obj", "armchair_collision_62.obj", "armchair_collision_63.obj", "armchair_collision_64.obj", "armchair_collision_65.obj", "armchair_collision_66.obj", "armchair_collision_67.obj", "armchair_collision_68.obj", "armchair_collision_69.obj", "armchair_collision_70.obj", "armchair_collision_71.obj", "armchair_collision_72.obj", "armchair_collision_73.obj", "armchair_collision_74.obj", "armchair_collision_75.obj", "armchair_collision_76.obj", "armchair_collision_77.obj", "armchair_collision_78.obj", "armchair_collision_79.obj", "armchair_collision_80.obj", "armchair_collision_81.obj", "armchair_collision_82.obj", "armchair_collision_83.obj", "armchair_collision_84.obj", "armchair_collision_85.obj", "armchair_collision_86.obj", "armchair_collision_87.obj", "armchair_collision_88.obj", "armchair_collision_89.obj", "armchair_collision_90.obj", "armchair_collision_91.obj", "armchair_collision_92.obj", "armchair_collision_93.obj", "armchair_collision_94.obj", "armchair_collision_95.obj", "armchair_collision_96.obj", "armchair_collision_97.obj", "armchair_collision_98.obj", "armchair_collision_99.obj", "armchair_collision_100.obj", "armchair_collision_101.obj", "armchair_collision_102.obj", "armchair_collision_103.obj", "armchair_collision_104.obj", "armchair_collision_105.obj", "armchair_collision_106.obj", "armchair_collision_107.obj", "armchair_collision_108.obj", "armchair_collision_109.obj", "armchair_collision_110.obj", "armchair_collision_111.obj", "armchair_collision_112.obj", "armchair_collision_113.obj", "armchair_collision_114.obj", "armchair_collision_115.obj", "armchair_collision_116.obj", "armchair_collision_117.obj", "armchair_collision_118.obj", "armchair_collision_119.obj", "armchair_collision_120.obj", "armchair_collision_121.obj", "armchair_collision_122.obj", "armchair_collision_123.obj", "armchair_collision_124.obj", "armchair_collision_125.obj", "armchair_collision_126.obj", "armchair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "armchair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "armchair.gltf" ], "visual_mesh_info": [ { "uri": "armchair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "armchair_1", "room_id": "living_room", "name": "armchair", "description": "comfortable upholstered armchair in warm neutral fabric", "object_type": "furniture", "transform": { "translation": [ 1.5043790541851105, -1.1886036157304454, -0.0019300780761738467 ], "rotation_wxyz": [ 0.7077969317995837, -0.0005663007805204685, 0.0006052598980851002, 0.7064154700308999 ] }, "bbox_min": [ -0.40525078773498535, -0.48313063383102417, 0.0 ], "bbox_max": [ 0.40525078773498535, 0.36686936020851135, 0.9336556196212769 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/armchair_1777491724525/armchair.glb", "sdf_path": "generated_assets/furniture/sdf/armchair_1777491724525/armchair.sdf", "image_path": "generated_assets/furniture/images/armchair_1777491724525.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/armchair_1777491724525/armchair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/armchair_1777491724525/armchair.sdf", "physics": { "links": { "base_link": { "mass": 26.0, "inertia_pose": [ 0.0, -0.114395, 0.390895, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 2.527271, "ixy": 1.408244e-08, "ixz": -4.627755e-08, "iyy": 2.536154, "iyz": 0.4393078, "izz": 2.987446 }, "collision_meshes": [ "armchair_collision_0.obj", "armchair_collision_1.obj", "armchair_collision_2.obj", "armchair_collision_3.obj", "armchair_collision_4.obj", "armchair_collision_5.obj", "armchair_collision_6.obj", "armchair_collision_7.obj", "armchair_collision_8.obj", "armchair_collision_9.obj", "armchair_collision_10.obj", "armchair_collision_11.obj", "armchair_collision_12.obj", "armchair_collision_13.obj", "armchair_collision_14.obj", "armchair_collision_15.obj", "armchair_collision_16.obj", "armchair_collision_17.obj", "armchair_collision_18.obj", "armchair_collision_19.obj", "armchair_collision_20.obj", "armchair_collision_21.obj", "armchair_collision_22.obj", "armchair_collision_23.obj", "armchair_collision_24.obj", "armchair_collision_25.obj", "armchair_collision_26.obj", "armchair_collision_27.obj", "armchair_collision_28.obj", "armchair_collision_29.obj", "armchair_collision_30.obj", "armchair_collision_31.obj", "armchair_collision_32.obj", "armchair_collision_33.obj", "armchair_collision_34.obj", "armchair_collision_35.obj", "armchair_collision_36.obj", "armchair_collision_37.obj", "armchair_collision_38.obj", "armchair_collision_39.obj", "armchair_collision_40.obj", "armchair_collision_41.obj", "armchair_collision_42.obj", "armchair_collision_43.obj", "armchair_collision_44.obj", "armchair_collision_45.obj", "armchair_collision_46.obj", "armchair_collision_47.obj", "armchair_collision_48.obj", "armchair_collision_49.obj", "armchair_collision_50.obj", "armchair_collision_51.obj", "armchair_collision_52.obj", "armchair_collision_53.obj", "armchair_collision_54.obj", "armchair_collision_55.obj", "armchair_collision_56.obj", "armchair_collision_57.obj", "armchair_collision_58.obj", "armchair_collision_59.obj", "armchair_collision_60.obj", "armchair_collision_61.obj", "armchair_collision_62.obj", "armchair_collision_63.obj", "armchair_collision_64.obj", "armchair_collision_65.obj", "armchair_collision_66.obj", "armchair_collision_67.obj", "armchair_collision_68.obj", "armchair_collision_69.obj", "armchair_collision_70.obj", "armchair_collision_71.obj", "armchair_collision_72.obj", "armchair_collision_73.obj", "armchair_collision_74.obj", "armchair_collision_75.obj", "armchair_collision_76.obj", "armchair_collision_77.obj", "armchair_collision_78.obj", "armchair_collision_79.obj", "armchair_collision_80.obj", "armchair_collision_81.obj", "armchair_collision_82.obj", "armchair_collision_83.obj", "armchair_collision_84.obj", "armchair_collision_85.obj", "armchair_collision_86.obj", "armchair_collision_87.obj", "armchair_collision_88.obj", "armchair_collision_89.obj", "armchair_collision_90.obj", "armchair_collision_91.obj", "armchair_collision_92.obj", "armchair_collision_93.obj", "armchair_collision_94.obj", "armchair_collision_95.obj", "armchair_collision_96.obj", "armchair_collision_97.obj", "armchair_collision_98.obj", "armchair_collision_99.obj", "armchair_collision_100.obj", "armchair_collision_101.obj", "armchair_collision_102.obj", "armchair_collision_103.obj", "armchair_collision_104.obj", "armchair_collision_105.obj", "armchair_collision_106.obj", "armchair_collision_107.obj", "armchair_collision_108.obj", "armchair_collision_109.obj", "armchair_collision_110.obj", "armchair_collision_111.obj", "armchair_collision_112.obj", "armchair_collision_113.obj", "armchair_collision_114.obj", "armchair_collision_115.obj", "armchair_collision_116.obj", "armchair_collision_117.obj", "armchair_collision_118.obj", "armchair_collision_119.obj", "armchair_collision_120.obj", "armchair_collision_121.obj", "armchair_collision_122.obj", "armchair_collision_123.obj", "armchair_collision_124.obj", "armchair_collision_125.obj", "armchair_collision_126.obj", "armchair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "armchair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "armchair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "armchair.gltf" ], "visual_mesh_info": [ { "uri": "armchair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "side_table_0", "room_id": "living_room", "name": "side_table", "description": "small wooden corner side table", "object_type": "furniture", "transform": { "translation": [ -1.3924666373032744, -0.44975687155749994, -0.0011120666472224634 ], "rotation_wxyz": [ 0.9999602350060209, 0.001104675495761775, -9.840170276674533e-06, -0.008849180861711253 ] }, "bbox_min": [ -0.2250000238418579, -0.20871710777282715, 0.0 ], "bbox_max": [ 0.22499997913837433, 0.22648027539253235, 0.5921052694320679 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "image_path": "generated_assets/furniture/images/side_table_1777492346889.png", "support_surfaces": [ { "surface_id": "S_2", "bounding_box_min": [ -0.21445375680923462, -0.19584782421588898, 0.01 ], "bounding_box_max": [ 0.21445375680923462, 0.19584782421588898, 0.5 ], "transform": { "translation": [ -1.3911023077348055, -0.3726733502793865, 0.6011650107093647 ], "rotation_wxyz": [ 0.9999602350060209, 0.001104675495761775, -9.840170276674533e-06, -0.008849180861711253 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.16267315164936452, 0.14094891482838373, -0.010000000000000009 ], [ 0.16275105492008596, 0.14450154537209253, -0.010000000000000009 ], [ 0.16271347419155507, 0.14278789693363886, -0.010000000000000009 ], [ 0.20159891859424978, 0.07415000432976465, -0.010000000000000009 ], [ 0.20472816244495778, 0.07246624762066584, -0.010000000000000009 ], [ 0.2032187344206658, 0.07327842051037531, -0.010000000000000009 ], [ 0.17067661003006368, 0.14059837991245966, -0.010000000000000009 ], [ 0.17100008443725973, 0.1441402369166253, -0.010000000000000009 ], [ 0.17084405437839895, 0.1424317442799447, -0.010000000000000009 ], [ 0.17796387390030294, 0.1395837002421258, -0.010000000000000009 ], [ 0.17863928393257528, 0.14307656222828607, -0.010000000000000009 ], [ 0.178313484944233, 0.1413917326355813, -0.010000000000000009 ], [ 0.18460472539795308, 0.1379325770760415, -0.010000000000000009 ], [ 0.1856650324238625, 0.1413297289038537, -0.010000000000000009 ], [ 0.18515357986820608, 0.13969107800968866, -0.010000000000000009 ], [ 0.19053564087284475, 0.13569083148487787, -0.010000000000000009 ], [ 0.19200990215671926, 0.13893150621899347, -0.010000000000000009 ], [ 0.19129875913990407, 0.13736832970627527, -0.010000000000000009 ], [ 0.19571264699829488, 0.13291274839886408, -0.010000000000000009 ], [ 0.19761935488117605, 0.13592139715203028, -0.010000000000000009 ], [ 0.19669964031113057, 0.13447014326103907, -0.010000000000000009 ], [ 0.20011717692745595, 0.12965250844010096, -0.010000000000000009 ], [ 0.2024550350083199, 0.1323420637274621, -0.010000000000000009 ], [ 0.2013273449314919, 0.13104473883160334, -0.010000000000000009 ], [ 0.20375481859577566, 0.12595240110405664, -0.010000000000000009 ], [ 0.20649430767429738, 0.1282333516503213, -0.010000000000000009 ], [ 0.20517287269962697, 0.12713312441357355, -0.010000000000000009 ], [ 0.2066453756464806, 0.12183185750492792, -0.010000000000000009 ], [ 0.20972578839195638, 0.12362683648117762, -0.010000000000000009 ], [ 0.20823990420235067, 0.12276101941117029, -0.010000000000000009 ], [ 0.2088053436650124, 0.11728531950958948, -0.010000000000000009 ], [ 0.21214044705761342, 0.1185442292118905, -0.010000000000000009 ], [ 0.21053173259628682, 0.11793699199208002, -0.010000000000000009 ], [ 0.21023113147152334, 0.11229627663143854, -0.010000000000000009 ], [ 0.21372365073097616, 0.11300430530556421, -0.010000000000000009 ], [ 0.2120389999522057, 0.11266278559216242, -0.010000000000000009 ], [ 0.21089612559212118, 0.10685702497013788, -0.010000000000000009 ], [ 0.21445374802482992, 0.1070325755501626, -0.010000000000000009 ], [ 0.21273770049942403, 0.10694789225109796, -0.010000000000000009 ], [ 0.21076076344383626, 0.10098321074494104, -0.010000000000000009 ], [ 0.21430707589519887, 0.10066815549381952, -0.010000000000000009 ], [ 0.21259645239246755, 0.10082013243683557, -0.010000000000000009 ], [ 0.20978710667026906, 0.09471797281750421, -0.010000000000000009 ], [ 0.21326544002426534, 0.09396562808998804, -0.010000000000000009 ], [ 0.21158762887848287, 0.094328530969703, -0.010000000000000009 ], [ 0.20794959977997213, 0.08812617594250421, -0.010000000000000009 ], [ 0.21132144943607717, 0.08699182504662256, -0.010000000000000009 ], [ 0.2096950025929299, 0.08753899568566065, -0.010000000000000009 ], [ 0.20523976401222616, 0.08128609591969232, -0.010000000000000009 ], [ 0.20848070696724325, 0.07982126707085352, -0.010000000000000009 ], [ 0.2069174112452355, 0.0805278354311822, -0.010000000000000009 ], [ -0.20159893616305918, 0.07414997452744226, -0.010000000000000009 ], [ -0.2047281800137672, 0.07246621781834345, -0.010000000000000009 ], [ -0.2032187519894752, 0.07327839070805292, -0.010000000000000009 ], [ -0.16267316921817393, 0.14094888502606134, -0.010000000000000009 ], [ -0.16275108739005656, 0.14450151556977014, -0.010000000000000009 ], [ -0.16271349176036448, 0.14278786713131647, -0.010000000000000009 ], [ -0.20523976667987437, 0.08128605121620874, -0.010000000000000009 ], [ -0.20848072453605265, 0.07982123726853113, -0.010000000000000009 ], [ -0.2069174288140449, 0.0805278056288598, -0.010000000000000009 ], [ -0.20794961734878153, 0.08812614614018183, -0.010000000000000009 ], [ -0.21132146700488658, 0.08699178034313898, -0.010000000000000009 ], [ -0.2096950052605781, 0.08753895098217707, -0.010000000000000009 ], [ -0.20978712423907847, 0.09471794301518183, -0.010000000000000009 ], [ -0.21326545759307475, 0.09396559828766565, -0.010000000000000009 ], [ -0.21158764644729228, 0.09432848626621942, -0.010000000000000009 ], [ -0.21076078101264567, 0.10098318094261866, -0.010000000000000009 ], [ -0.21430709346400828, 0.10066812569149713, -0.010000000000000009 ], [ -0.21259646996127696, 0.10082008773335199, -0.010000000000000009 ], [ -0.21089614316093058, 0.1068569802666543, -0.010000000000000009 ], [ -0.21445376559363932, 0.10703254574784021, -0.010000000000000009 ], [ -0.21273771806823344, 0.10694786244877558, -0.010000000000000009 ], [ -0.21023114904033274, 0.11229623192795496, -0.010000000000000009 ], [ -0.21372366829978556, 0.11300427550324182, -0.010000000000000009 ], [ -0.21203901752101512, 0.11266274088867884, -0.010000000000000009 ], [ -0.20880536123382182, 0.11728528970726709, -0.010000000000000009 ], [ -0.21214046462642283, 0.11854419940956812, -0.010000000000000009 ], [ -0.21053175016509623, 0.11793696218975763, -0.010000000000000009 ], [ -0.20664539321529002, 0.12183182770260553, -0.010000000000000009 ], [ -0.2097258059607658, 0.12362680667885523, -0.010000000000000009 ], [ -0.20823993667232127, 0.12276097470768671, -0.010000000000000009 ], [ -0.20375483616458506, 0.12595238620289545, -0.010000000000000009 ], [ -0.20649434014426798, 0.1282333367491601, -0.010000000000000009 ], [ -0.20517292007075877, 0.12713310951241236, -0.010000000000000009 ], [ -0.20011719449626536, 0.12965247863777857, -0.010000000000000009 ], [ -0.2024550674782905, 0.13234201902397852, -0.010000000000000009 ], [ -0.2013273774014625, 0.13104469412811975, -0.010000000000000009 ], [ -0.19571267946826548, 0.1329127185965417, -0.010000000000000009 ], [ -0.19761937244998545, 0.1359213673497079, -0.010000000000000009 ], [ -0.19669965787993998, 0.13447009855755548, -0.010000000000000009 ], [ -0.19053565844165415, 0.13569080168255548, -0.010000000000000009 ], [ -0.19200991972552867, 0.13893147641667108, -0.010000000000000009 ], [ -0.19129879160987467, 0.1373682850027917, -0.010000000000000009 ], [ -0.18460475786792369, 0.13793254727371912, -0.010000000000000009 ], [ -0.18566504999267192, 0.14132969910153131, -0.010000000000000009 ], [ -0.18515359743701548, 0.13969104820736628, -0.010000000000000009 ], [ -0.17796390637027354, 0.1395836704398034, -0.010000000000000009 ], [ -0.17863930150138468, 0.1430765324259637, -0.010000000000000009 ], [ -0.1783135025130424, 0.14139168793209772, -0.010000000000000009 ], [ -0.17067664250003428, 0.14059835011013727, -0.010000000000000009 ], [ -0.17100011690723033, 0.14414020711430292, -0.010000000000000009 ], [ -0.17084408684836955, 0.14243171447762232, -0.010000000000000009 ], [ -0.03768123074637981, -0.2151165372704627, -0.010000000000000009 ], [ -0.04073425143229099, -0.2169347918604972, -0.010000000000000009 ], [ -0.03926158457266422, -0.2160577393149497, -0.010000000000000009 ], [ 0.037681269056924864, -0.2151165223693015, -0.010000000000000009 ], [ 0.03926162660849957, -0.2160577244137885, -0.010000000000000009 ], [ 0.04073428974283604, -0.2169347918604972, -0.010000000000000009 ], [ -0.033436459891668276, -0.22190575963012, -0.010000000000000009 ], [ -0.03636049985157581, -0.22393035059920569, -0.010000000000000009 ], [ -0.03495005651580425, -0.2229537582968833, -0.010000000000000009 ], [ -0.02898407302068801, -0.22773303752890844, -0.010000000000000009 ], [ -0.03169376909004779, -0.2300381577586295, -0.010000000000000009 ], [ -0.03038671746121974, -0.228926262912667, -0.010000000000000009 ], [ -0.024316131539812994, -0.23267041808120031, -0.010000000000000009 ], [ -0.026753592707386923, -0.2352634883498313, -0.010000000000000009 ], [ -0.025577861286869955, -0.23401269978038092, -0.010000000000000009 ], [ -0.0195059659259233, -0.2366852081393363, -0.010000000000000009 ], [ -0.021601730428806257, -0.23956345683089514, -0.010000000000000009 ], [ -0.02059081702696414, -0.23817510074130316, -0.010000000000000009 ], [ -0.014624583006075335, -0.23976740902415533, -0.010000000000000009 ], [ -0.016300159909001303, -0.24291098779193182, -0.010000000000000009 ], [ -0.015491928376427603, -0.24139464562884588, -0.010000000000000009 ], [ -0.009729849577120257, -0.241931057629502, -0.010000000000000009 ], [ -0.010905361205509615, -0.24529568022242804, -0.010000000000000009 ], [ -0.0103383394257936, -0.24367270534983893, -0.010000000000000009 ], [ -0.004854422465136957, -0.24320729738227148, -0.010000000000000009 ], [ -0.005462039198896599, -0.24672058886042852, -0.010000000000000009 ], [ -0.005168948725036097, -0.2450259245013358, -0.010000000000000009 ], [ 2.0878475445007707e-08, -0.24362815087786932, -0.010000000000000009 ], [ 2.1224685616649977e-08, -0.24719410305968542, -0.010000000000000009 ], [ 2.1057077467068366e-08, -0.2454740024184348, -0.010000000000000009 ], [ 0.0048544645009723185, -0.24320729738227148, -0.010000000000000009 ], [ 0.0054620817003932474, -0.24672058886042852, -0.010000000000000009 ], [ 0.0051689916921940325, -0.2450259245013358, -0.010000000000000009 ], [ 0.009729892544278192, -0.241931057629502, -0.010000000000000009 ], [ 0.010905404172667551, -0.24529568022242804, -0.010000000000000009 ], [ 0.010338382392951536, -0.24367270534983893, -0.010000000000000009 ], [ 0.014624623179265547, -0.23976740902415533, -0.010000000000000009 ], [ 0.016300203807481813, -0.24291097289077063, -0.010000000000000009 ], [ 0.01549196761829524, -0.24139464562884588, -0.010000000000000009 ], [ 0.01950600796175866, -0.2366852081393363, -0.010000000000000009 ], [ 0.021601774327286768, -0.23956345683089514, -0.010000000000000009 ], [ 0.020590857200154352, -0.23817510074130316, -0.010000000000000009 ], [ 0.024316171713003206, -0.23267041808120031, -0.010000000000000009 ], [ 0.026753632880577135, -0.2352634883498313, -0.010000000000000009 ], [ 0.025577901460060167, -0.23401269978038092, -0.010000000000000009 ], [ 0.028984111331233072, -0.22773302262774725, -0.010000000000000009 ], [ 0.03169380740059285, -0.2300381577586295, -0.010000000000000009 ], [ 0.030386757634409952, -0.228926262912667, -0.010000000000000009 ], [ 0.03343649820221333, -0.2219057447289588, -0.010000000000000009 ], [ 0.03636052326095967, -0.2239303207968833, -0.010000000000000009 ], [ 0.03495008365047841, -0.2229537433957221, -0.010000000000000009 ] ], "faces": [ [ 79, 76, 77 ], [ 79, 77, 80 ], [ 80, 77, 75 ], [ 80, 75, 78 ], [ 76, 73, 74 ], [ 76, 74, 77 ], [ 77, 74, 72 ], [ 77, 72, 75 ], [ 73, 70, 71 ], [ 73, 71, 74 ], [ 74, 71, 69 ], [ 74, 69, 72 ], [ 105, 3, 48 ], [ 48, 45, 42 ], [ 42, 39, 36 ], [ 36, 33, 30 ], [ 30, 27, 24 ], [ 24, 21, 18 ], [ 18, 15, 12 ], [ 12, 9, 6 ], [ 6, 0, 54 ], [ 54, 99, 96 ], [ 96, 93, 90 ], [ 90, 87, 84 ], [ 84, 81, 78 ], [ 78, 75, 72 ], [ 72, 69, 66 ], [ 66, 63, 60 ], [ 60, 57, 51 ], [ 51, 102, 108 ], [ 108, 111, 114 ], [ 114, 117, 120 ], [ 120, 123, 126 ], [ 126, 129, 132 ], [ 132, 135, 138 ], [ 138, 141, 144 ], [ 144, 147, 150 ], [ 150, 105, 48 ], [ 48, 42, 36 ], [ 36, 30, 24 ], [ 24, 18, 12 ], [ 12, 6, 54 ], [ 54, 96, 90 ], [ 90, 84, 78 ], [ 78, 72, 66 ], [ 66, 60, 51 ], [ 51, 108, 114 ], [ 114, 120, 126 ], [ 126, 132, 138 ], [ 138, 144, 150 ], [ 150, 48, 36 ], [ 36, 24, 12 ], [ 12, 54, 90 ], [ 90, 78, 66 ], [ 66, 51, 114 ], [ 114, 126, 138 ], [ 138, 150, 36 ], [ 36, 12, 90 ], [ 90, 66, 114 ], [ 114, 138, 36 ], [ 36, 90, 114 ], [ 62, 57, 60 ], [ 62, 59, 57 ], [ 61, 59, 62 ], [ 61, 58, 59 ], [ 58, 52, 53 ], [ 58, 53, 59 ], [ 59, 53, 51 ], [ 59, 51, 57 ], [ 52, 103, 104 ], [ 52, 104, 53 ], [ 53, 104, 102 ], [ 53, 102, 51 ], [ 103, 109, 110 ], [ 103, 110, 104 ], [ 104, 110, 108 ], [ 104, 108, 102 ], [ 109, 112, 113 ], [ 109, 113, 110 ], [ 110, 113, 111 ], [ 110, 111, 108 ], [ 112, 115, 116 ], [ 112, 116, 113 ], [ 113, 116, 114 ], [ 113, 114, 111 ], [ 115, 118, 119 ], [ 115, 119, 116 ], [ 116, 119, 117 ], [ 116, 117, 114 ], [ 118, 121, 122 ], [ 118, 122, 119 ], [ 119, 122, 120 ], [ 119, 120, 117 ], [ 121, 124, 125 ], [ 121, 125, 122 ], [ 122, 125, 123 ], [ 122, 123, 120 ], [ 124, 127, 128 ], [ 124, 128, 125 ], [ 125, 128, 126 ], [ 125, 126, 123 ], [ 127, 130, 131 ], [ 127, 131, 128 ], [ 128, 131, 129 ], [ 128, 129, 126 ], [ 107, 4, 5 ], [ 107, 5, 106 ], [ 106, 5, 3 ], [ 106, 3, 105 ], [ 130, 133, 134 ], [ 130, 134, 131 ], [ 131, 134, 132 ], [ 131, 132, 129 ], [ 4, 49, 50 ], [ 4, 50, 5 ], [ 5, 50, 48 ], [ 5, 48, 3 ], [ 133, 136, 137 ], [ 133, 137, 134 ], [ 134, 137, 135 ], [ 134, 135, 132 ], [ 70, 67, 68 ], [ 49, 46, 47 ], [ 49, 47, 50 ], [ 50, 47, 45 ], [ 50, 45, 48 ], [ 70, 68, 71 ], [ 136, 140, 137 ], [ 137, 140, 138 ], [ 137, 138, 135 ], [ 71, 68, 66 ], [ 136, 139, 140 ], [ 46, 43, 44 ], [ 71, 66, 69 ], [ 47, 44, 42 ], [ 47, 42, 45 ], [ 46, 44, 47 ], [ 139, 143, 140 ], [ 140, 143, 141 ], [ 140, 141, 138 ], [ 139, 142, 143 ], [ 43, 40, 41 ], [ 43, 41, 44 ], [ 44, 41, 39 ], [ 44, 39, 42 ], [ 142, 145, 146 ], [ 142, 146, 143 ], [ 143, 146, 144 ], [ 143, 144, 141 ], [ 40, 37, 38 ], [ 40, 38, 41 ], [ 41, 38, 36 ], [ 41, 36, 39 ], [ 145, 148, 149 ], [ 145, 149, 146 ], [ 146, 149, 147 ], [ 146, 147, 144 ], [ 37, 34, 35 ], [ 37, 35, 38 ], [ 38, 35, 33 ], [ 38, 33, 36 ], [ 148, 151, 152 ], [ 148, 152, 149 ], [ 149, 152, 150 ], [ 149, 150, 147 ], [ 67, 64, 65 ], [ 34, 31, 32 ], [ 34, 32, 35 ], [ 35, 32, 30 ], [ 35, 30, 33 ], [ 67, 65, 68 ], [ 151, 106, 152 ], [ 152, 106, 105 ], [ 152, 105, 150 ], [ 68, 65, 63 ], [ 151, 107, 106 ], [ 31, 28, 29 ], [ 68, 63, 66 ], [ 32, 29, 27 ], [ 32, 27, 30 ], [ 31, 29, 32 ], [ 28, 25, 26 ], [ 28, 26, 29 ], [ 29, 26, 24 ], [ 29, 24, 27 ], [ 25, 22, 23 ], [ 25, 23, 26 ], [ 26, 23, 21 ], [ 26, 21, 24 ], [ 22, 19, 20 ], [ 22, 20, 23 ], [ 23, 20, 18 ], [ 23, 18, 21 ], [ 64, 61, 62 ], [ 19, 16, 17 ], [ 19, 17, 20 ], [ 20, 17, 15 ], [ 20, 15, 18 ], [ 64, 62, 65 ], [ 65, 62, 60 ], [ 16, 13, 14 ], [ 16, 14, 17 ], [ 65, 60, 63 ], [ 17, 12, 15 ], [ 17, 14, 12 ], [ 13, 10, 11 ], [ 13, 11, 14 ], [ 14, 11, 9 ], [ 14, 9, 12 ], [ 10, 7, 8 ], [ 10, 8, 11 ], [ 11, 8, 6 ], [ 11, 6, 9 ], [ 7, 1, 2 ], [ 7, 2, 8 ], [ 8, 2, 0 ], [ 8, 0, 6 ], [ 1, 55, 56 ], [ 1, 56, 2 ], [ 2, 56, 54 ], [ 2, 54, 0 ], [ 55, 100, 101 ], [ 55, 101, 56 ], [ 56, 101, 99 ], [ 56, 99, 54 ], [ 100, 97, 98 ], [ 100, 98, 101 ], [ 101, 98, 96 ], [ 101, 96, 99 ], [ 97, 94, 95 ], [ 97, 95, 98 ], [ 98, 95, 93 ], [ 98, 93, 96 ], [ 94, 91, 92 ], [ 94, 92, 95 ], [ 95, 92, 90 ], [ 95, 90, 93 ], [ 91, 88, 89 ], [ 91, 89, 92 ], [ 92, 89, 87 ], [ 92, 87, 90 ], [ 88, 85, 86 ], [ 88, 86, 89 ], [ 89, 86, 84 ], [ 89, 84, 87 ], [ 85, 82, 83 ], [ 85, 83, 86 ], [ 86, 83, 81 ], [ 86, 81, 84 ], [ 82, 79, 80 ], [ 82, 80, 83 ], [ 83, 80, 78 ], [ 83, 78, 81 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.0, 0.056963, 0.37857, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.3206537, "ixy": 5.229282e-09, "ixz": -3.854795e-09, "iyy": 0.3224873, "iyz": -0.008849827, "izz": 0.187364 }, "collision_meshes": [ "side_table_collision_0.obj", "side_table_collision_1.obj", "side_table_collision_2.obj", "side_table_collision_3.obj", "side_table_collision_4.obj", "side_table_collision_5.obj", "side_table_collision_6.obj", "side_table_collision_7.obj", "side_table_collision_8.obj", "side_table_collision_9.obj", "side_table_collision_10.obj", "side_table_collision_11.obj", "side_table_collision_12.obj", "side_table_collision_13.obj", "side_table_collision_14.obj", "side_table_collision_15.obj", "side_table_collision_16.obj", "side_table_collision_17.obj", "side_table_collision_18.obj", "side_table_collision_19.obj", "side_table_collision_20.obj", "side_table_collision_21.obj", "side_table_collision_22.obj", "side_table_collision_23.obj", "side_table_collision_24.obj", "side_table_collision_25.obj", "side_table_collision_26.obj", "side_table_collision_27.obj", "side_table_collision_28.obj", "side_table_collision_29.obj", "side_table_collision_30.obj", "side_table_collision_31.obj", "side_table_collision_32.obj", "side_table_collision_33.obj", "side_table_collision_34.obj", "side_table_collision_35.obj", "side_table_collision_36.obj", "side_table_collision_37.obj", "side_table_collision_38.obj", "side_table_collision_39.obj", "side_table_collision_40.obj", "side_table_collision_41.obj", "side_table_collision_42.obj", "side_table_collision_43.obj", "side_table_collision_44.obj", "side_table_collision_45.obj", "side_table_collision_46.obj", "side_table_collision_47.obj", "side_table_collision_48.obj", "side_table_collision_49.obj", "side_table_collision_50.obj", "side_table_collision_51.obj", "side_table_collision_52.obj", "side_table_collision_53.obj", "side_table_collision_54.obj", "side_table_collision_55.obj", "side_table_collision_56.obj", "side_table_collision_57.obj", "side_table_collision_58.obj", "side_table_collision_59.obj", "side_table_collision_60.obj", "side_table_collision_61.obj", "side_table_collision_62.obj", "side_table_collision_63.obj", "side_table_collision_64.obj", "side_table_collision_65.obj", "side_table_collision_66.obj", "side_table_collision_67.obj", "side_table_collision_68.obj", "side_table_collision_69.obj", "side_table_collision_70.obj", "side_table_collision_71.obj", "side_table_collision_72.obj", "side_table_collision_73.obj", "side_table_collision_74.obj", "side_table_collision_75.obj", "side_table_collision_76.obj", "side_table_collision_77.obj", "side_table_collision_78.obj", "side_table_collision_79.obj", "side_table_collision_80.obj", "side_table_collision_81.obj", "side_table_collision_82.obj", "side_table_collision_83.obj", "side_table_collision_84.obj", "side_table_collision_85.obj", "side_table_collision_86.obj", "side_table_collision_87.obj", "side_table_collision_88.obj", "side_table_collision_89.obj", "side_table_collision_90.obj", "side_table_collision_91.obj", "side_table_collision_92.obj", "side_table_collision_93.obj", "side_table_collision_94.obj", "side_table_collision_95.obj", "side_table_collision_96.obj", "side_table_collision_97.obj", "side_table_collision_98.obj", "side_table_collision_99.obj", "side_table_collision_100.obj", "side_table_collision_101.obj", "side_table_collision_102.obj", "side_table_collision_103.obj", "side_table_collision_104.obj", "side_table_collision_105.obj", "side_table_collision_106.obj", "side_table_collision_107.obj", "side_table_collision_108.obj", "side_table_collision_109.obj", "side_table_collision_110.obj", "side_table_collision_111.obj", "side_table_collision_112.obj", "side_table_collision_113.obj", "side_table_collision_114.obj", "side_table_collision_115.obj", "side_table_collision_116.obj", "side_table_collision_117.obj", "side_table_collision_118.obj", "side_table_collision_119.obj", "side_table_collision_120.obj", "side_table_collision_121.obj", "side_table_collision_122.obj", "side_table_collision_123.obj", "side_table_collision_124.obj", "side_table_collision_125.obj", "side_table_collision_126.obj", "side_table_collision_127.obj" ], "collision_mesh_info": [ { "uri": "side_table_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "side_table.gltf" ], "visual_mesh_info": [ { "uri": "side_table.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "side_table_1", "room_id": "living_room", "name": "side_table", "description": "small wooden corner side table", "object_type": "furniture", "transform": { "translation": [ 1.4039757199157061, -0.44186151737028734, -0.0011120666472224647 ], "rotation_wxyz": [ 0.9999368269293875, 0.0011046494861344095, -1.2421460083208085e-05, -0.011185783191556891 ] }, "bbox_min": [ -0.2250000238418579, -0.20871710777282715, 0.0 ], "bbox_max": [ 0.22499997913837433, 0.22648027539253235, 0.5921052694320679 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "image_path": "generated_assets/furniture/images/side_table_1777492346889.png", "support_surfaces": [ { "surface_id": "S_3", "bounding_box_min": [ -0.21445375680923462, -0.19584782421588898, 0.01 ], "bounding_box_max": [ 0.21445375680923462, 0.19584782421588898, 0.5 ], "transform": { "translation": [ 1.4057002787220325, -0.364785213977297, 0.6011650107093647 ], "rotation_wxyz": [ 0.9999368269293875, 0.0011046494861344095, -1.2421460083208085e-05, -0.011185783191556891 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.16267315164936452, 0.14094891482838373, -0.010000000000000009 ], [ 0.16275105492008596, 0.14450154537209253, -0.010000000000000009 ], [ 0.16271347419155507, 0.14278789693363886, -0.010000000000000009 ], [ 0.20159891859424978, 0.07415000432976465, -0.010000000000000009 ], [ 0.20472816244495778, 0.07246624762066584, -0.010000000000000009 ], [ 0.2032187344206658, 0.07327842051037531, -0.010000000000000009 ], [ 0.17067661003006368, 0.14059837991245966, -0.010000000000000009 ], [ 0.17100008443725973, 0.1441402369166253, -0.010000000000000009 ], [ 0.17084405437839895, 0.1424317442799447, -0.010000000000000009 ], [ 0.17796387390030294, 0.1395837002421258, -0.010000000000000009 ], [ 0.17863928393257528, 0.14307656222828607, -0.010000000000000009 ], [ 0.178313484944233, 0.1413917326355813, -0.010000000000000009 ], [ 0.18460472539795308, 0.1379325770760415, -0.010000000000000009 ], [ 0.1856650324238625, 0.1413297289038537, -0.010000000000000009 ], [ 0.18515357986820608, 0.13969107800968866, -0.010000000000000009 ], [ 0.19053564087284475, 0.13569083148487787, -0.010000000000000009 ], [ 0.19200990215671926, 0.13893150621899347, -0.010000000000000009 ], [ 0.19129875913990407, 0.13736832970627527, -0.010000000000000009 ], [ 0.19571264699829488, 0.13291274839886408, -0.010000000000000009 ], [ 0.19761935488117605, 0.13592139715203028, -0.010000000000000009 ], [ 0.19669964031113057, 0.13447014326103907, -0.010000000000000009 ], [ 0.20011717692745595, 0.12965250844010096, -0.010000000000000009 ], [ 0.2024550350083199, 0.1323420637274621, -0.010000000000000009 ], [ 0.2013273449314919, 0.13104473883160334, -0.010000000000000009 ], [ 0.20375481859577566, 0.12595240110405664, -0.010000000000000009 ], [ 0.20649430767429738, 0.1282333516503213, -0.010000000000000009 ], [ 0.20517287269962697, 0.12713312441357355, -0.010000000000000009 ], [ 0.2066453756464806, 0.12183185750492792, -0.010000000000000009 ], [ 0.20972578839195638, 0.12362683648117762, -0.010000000000000009 ], [ 0.20823990420235067, 0.12276101941117029, -0.010000000000000009 ], [ 0.2088053436650124, 0.11728531950958948, -0.010000000000000009 ], [ 0.21214044705761342, 0.1185442292118905, -0.010000000000000009 ], [ 0.21053173259628682, 0.11793699199208002, -0.010000000000000009 ], [ 0.21023113147152334, 0.11229627663143854, -0.010000000000000009 ], [ 0.21372365073097616, 0.11300430530556421, -0.010000000000000009 ], [ 0.2120389999522057, 0.11266278559216242, -0.010000000000000009 ], [ 0.21089612559212118, 0.10685702497013788, -0.010000000000000009 ], [ 0.21445374802482992, 0.1070325755501626, -0.010000000000000009 ], [ 0.21273770049942403, 0.10694789225109796, -0.010000000000000009 ], [ 0.21076076344383626, 0.10098321074494104, -0.010000000000000009 ], [ 0.21430707589519887, 0.10066815549381952, -0.010000000000000009 ], [ 0.21259645239246755, 0.10082013243683557, -0.010000000000000009 ], [ 0.20978710667026906, 0.09471797281750421, -0.010000000000000009 ], [ 0.21326544002426534, 0.09396562808998804, -0.010000000000000009 ], [ 0.21158762887848287, 0.094328530969703, -0.010000000000000009 ], [ 0.20794959977997213, 0.08812617594250421, -0.010000000000000009 ], [ 0.21132144943607717, 0.08699182504662256, -0.010000000000000009 ], [ 0.2096950025929299, 0.08753899568566065, -0.010000000000000009 ], [ 0.20523976401222616, 0.08128609591969232, -0.010000000000000009 ], [ 0.20848070696724325, 0.07982126707085352, -0.010000000000000009 ], [ 0.2069174112452355, 0.0805278354311822, -0.010000000000000009 ], [ -0.20159893616305918, 0.07414997452744226, -0.010000000000000009 ], [ -0.2047281800137672, 0.07246621781834345, -0.010000000000000009 ], [ -0.2032187519894752, 0.07327839070805292, -0.010000000000000009 ], [ -0.16267316921817393, 0.14094888502606134, -0.010000000000000009 ], [ -0.16275108739005656, 0.14450151556977014, -0.010000000000000009 ], [ -0.16271349176036448, 0.14278786713131647, -0.010000000000000009 ], [ -0.20523976667987437, 0.08128605121620874, -0.010000000000000009 ], [ -0.20848072453605265, 0.07982123726853113, -0.010000000000000009 ], [ -0.2069174288140449, 0.0805278056288598, -0.010000000000000009 ], [ -0.20794961734878153, 0.08812614614018183, -0.010000000000000009 ], [ -0.21132146700488658, 0.08699178034313898, -0.010000000000000009 ], [ -0.2096950052605781, 0.08753895098217707, -0.010000000000000009 ], [ -0.20978712423907847, 0.09471794301518183, -0.010000000000000009 ], [ -0.21326545759307475, 0.09396559828766565, -0.010000000000000009 ], [ -0.21158764644729228, 0.09432848626621942, -0.010000000000000009 ], [ -0.21076078101264567, 0.10098318094261866, -0.010000000000000009 ], [ -0.21430709346400828, 0.10066812569149713, -0.010000000000000009 ], [ -0.21259646996127696, 0.10082008773335199, -0.010000000000000009 ], [ -0.21089614316093058, 0.1068569802666543, -0.010000000000000009 ], [ -0.21445376559363932, 0.10703254574784021, -0.010000000000000009 ], [ -0.21273771806823344, 0.10694786244877558, -0.010000000000000009 ], [ -0.21023114904033274, 0.11229623192795496, -0.010000000000000009 ], [ -0.21372366829978556, 0.11300427550324182, -0.010000000000000009 ], [ -0.21203901752101512, 0.11266274088867884, -0.010000000000000009 ], [ -0.20880536123382182, 0.11728528970726709, -0.010000000000000009 ], [ -0.21214046462642283, 0.11854419940956812, -0.010000000000000009 ], [ -0.21053175016509623, 0.11793696218975763, -0.010000000000000009 ], [ -0.20664539321529002, 0.12183182770260553, -0.010000000000000009 ], [ -0.2097258059607658, 0.12362680667885523, -0.010000000000000009 ], [ -0.20823993667232127, 0.12276097470768671, -0.010000000000000009 ], [ -0.20375483616458506, 0.12595238620289545, -0.010000000000000009 ], [ -0.20649434014426798, 0.1282333367491601, -0.010000000000000009 ], [ -0.20517292007075877, 0.12713310951241236, -0.010000000000000009 ], [ -0.20011719449626536, 0.12965247863777857, -0.010000000000000009 ], [ -0.2024550674782905, 0.13234201902397852, -0.010000000000000009 ], [ -0.2013273774014625, 0.13104469412811975, -0.010000000000000009 ], [ -0.19571267946826548, 0.1329127185965417, -0.010000000000000009 ], [ -0.19761937244998545, 0.1359213673497079, -0.010000000000000009 ], [ -0.19669965787993998, 0.13447009855755548, -0.010000000000000009 ], [ -0.19053565844165415, 0.13569080168255548, -0.010000000000000009 ], [ -0.19200991972552867, 0.13893147641667108, -0.010000000000000009 ], [ -0.19129879160987467, 0.1373682850027917, -0.010000000000000009 ], [ -0.18460475786792369, 0.13793254727371912, -0.010000000000000009 ], [ -0.18566504999267192, 0.14132969910153131, -0.010000000000000009 ], [ -0.18515359743701548, 0.13969104820736628, -0.010000000000000009 ], [ -0.17796390637027354, 0.1395836704398034, -0.010000000000000009 ], [ -0.17863930150138468, 0.1430765324259637, -0.010000000000000009 ], [ -0.1783135025130424, 0.14139168793209772, -0.010000000000000009 ], [ -0.17067664250003428, 0.14059835011013727, -0.010000000000000009 ], [ -0.17100011690723033, 0.14414020711430292, -0.010000000000000009 ], [ -0.17084408684836955, 0.14243171447762232, -0.010000000000000009 ], [ -0.03768123074637981, -0.2151165372704627, -0.010000000000000009 ], [ -0.04073425143229099, -0.2169347918604972, -0.010000000000000009 ], [ -0.03926158457266422, -0.2160577393149497, -0.010000000000000009 ], [ 0.037681269056924864, -0.2151165223693015, -0.010000000000000009 ], [ 0.03926162660849957, -0.2160577244137885, -0.010000000000000009 ], [ 0.04073428974283604, -0.2169347918604972, -0.010000000000000009 ], [ -0.033436459891668276, -0.22190575963012, -0.010000000000000009 ], [ -0.03636049985157581, -0.22393035059920569, -0.010000000000000009 ], [ -0.03495005651580425, -0.2229537582968833, -0.010000000000000009 ], [ -0.02898407302068801, -0.22773303752890844, -0.010000000000000009 ], [ -0.03169376909004779, -0.2300381577586295, -0.010000000000000009 ], [ -0.03038671746121974, -0.228926262912667, -0.010000000000000009 ], [ -0.024316131539812994, -0.23267041808120031, -0.010000000000000009 ], [ -0.026753592707386923, -0.2352634883498313, -0.010000000000000009 ], [ -0.025577861286869955, -0.23401269978038092, -0.010000000000000009 ], [ -0.0195059659259233, -0.2366852081393363, -0.010000000000000009 ], [ -0.021601730428806257, -0.23956345683089514, -0.010000000000000009 ], [ -0.02059081702696414, -0.23817510074130316, -0.010000000000000009 ], [ -0.014624583006075335, -0.23976740902415533, -0.010000000000000009 ], [ -0.016300159909001303, -0.24291098779193182, -0.010000000000000009 ], [ -0.015491928376427603, -0.24139464562884588, -0.010000000000000009 ], [ -0.009729849577120257, -0.241931057629502, -0.010000000000000009 ], [ -0.010905361205509615, -0.24529568022242804, -0.010000000000000009 ], [ -0.0103383394257936, -0.24367270534983893, -0.010000000000000009 ], [ -0.004854422465136957, -0.24320729738227148, -0.010000000000000009 ], [ -0.005462039198896599, -0.24672058886042852, -0.010000000000000009 ], [ -0.005168948725036097, -0.2450259245013358, -0.010000000000000009 ], [ 2.0878475445007707e-08, -0.24362815087786932, -0.010000000000000009 ], [ 2.1224685616649977e-08, -0.24719410305968542, -0.010000000000000009 ], [ 2.1057077467068366e-08, -0.2454740024184348, -0.010000000000000009 ], [ 0.0048544645009723185, -0.24320729738227148, -0.010000000000000009 ], [ 0.0054620817003932474, -0.24672058886042852, -0.010000000000000009 ], [ 0.0051689916921940325, -0.2450259245013358, -0.010000000000000009 ], [ 0.009729892544278192, -0.241931057629502, -0.010000000000000009 ], [ 0.010905404172667551, -0.24529568022242804, -0.010000000000000009 ], [ 0.010338382392951536, -0.24367270534983893, -0.010000000000000009 ], [ 0.014624623179265547, -0.23976740902415533, -0.010000000000000009 ], [ 0.016300203807481813, -0.24291097289077063, -0.010000000000000009 ], [ 0.01549196761829524, -0.24139464562884588, -0.010000000000000009 ], [ 0.01950600796175866, -0.2366852081393363, -0.010000000000000009 ], [ 0.021601774327286768, -0.23956345683089514, -0.010000000000000009 ], [ 0.020590857200154352, -0.23817510074130316, -0.010000000000000009 ], [ 0.024316171713003206, -0.23267041808120031, -0.010000000000000009 ], [ 0.026753632880577135, -0.2352634883498313, -0.010000000000000009 ], [ 0.025577901460060167, -0.23401269978038092, -0.010000000000000009 ], [ 0.028984111331233072, -0.22773302262774725, -0.010000000000000009 ], [ 0.03169380740059285, -0.2300381577586295, -0.010000000000000009 ], [ 0.030386757634409952, -0.228926262912667, -0.010000000000000009 ], [ 0.03343649820221333, -0.2219057447289588, -0.010000000000000009 ], [ 0.03636052326095967, -0.2239303207968833, -0.010000000000000009 ], [ 0.03495008365047841, -0.2229537433957221, -0.010000000000000009 ] ], "faces": [ [ 79, 76, 77 ], [ 79, 77, 80 ], [ 80, 77, 75 ], [ 80, 75, 78 ], [ 76, 73, 74 ], [ 76, 74, 77 ], [ 77, 74, 72 ], [ 77, 72, 75 ], [ 73, 70, 71 ], [ 73, 71, 74 ], [ 74, 71, 69 ], [ 74, 69, 72 ], [ 105, 3, 48 ], [ 48, 45, 42 ], [ 42, 39, 36 ], [ 36, 33, 30 ], [ 30, 27, 24 ], [ 24, 21, 18 ], [ 18, 15, 12 ], [ 12, 9, 6 ], [ 6, 0, 54 ], [ 54, 99, 96 ], [ 96, 93, 90 ], [ 90, 87, 84 ], [ 84, 81, 78 ], [ 78, 75, 72 ], [ 72, 69, 66 ], [ 66, 63, 60 ], [ 60, 57, 51 ], [ 51, 102, 108 ], [ 108, 111, 114 ], [ 114, 117, 120 ], [ 120, 123, 126 ], [ 126, 129, 132 ], [ 132, 135, 138 ], [ 138, 141, 144 ], [ 144, 147, 150 ], [ 150, 105, 48 ], [ 48, 42, 36 ], [ 36, 30, 24 ], [ 24, 18, 12 ], [ 12, 6, 54 ], [ 54, 96, 90 ], [ 90, 84, 78 ], [ 78, 72, 66 ], [ 66, 60, 51 ], [ 51, 108, 114 ], [ 114, 120, 126 ], [ 126, 132, 138 ], [ 138, 144, 150 ], [ 150, 48, 36 ], [ 36, 24, 12 ], [ 12, 54, 90 ], [ 90, 78, 66 ], [ 66, 51, 114 ], [ 114, 126, 138 ], [ 138, 150, 36 ], [ 36, 12, 90 ], [ 90, 66, 114 ], [ 114, 138, 36 ], [ 36, 90, 114 ], [ 62, 57, 60 ], [ 62, 59, 57 ], [ 61, 59, 62 ], [ 61, 58, 59 ], [ 58, 52, 53 ], [ 58, 53, 59 ], [ 59, 53, 51 ], [ 59, 51, 57 ], [ 52, 103, 104 ], [ 52, 104, 53 ], [ 53, 104, 102 ], [ 53, 102, 51 ], [ 103, 109, 110 ], [ 103, 110, 104 ], [ 104, 110, 108 ], [ 104, 108, 102 ], [ 109, 112, 113 ], [ 109, 113, 110 ], [ 110, 113, 111 ], [ 110, 111, 108 ], [ 112, 115, 116 ], [ 112, 116, 113 ], [ 113, 116, 114 ], [ 113, 114, 111 ], [ 115, 118, 119 ], [ 115, 119, 116 ], [ 116, 119, 117 ], [ 116, 117, 114 ], [ 118, 121, 122 ], [ 118, 122, 119 ], [ 119, 122, 120 ], [ 119, 120, 117 ], [ 121, 124, 125 ], [ 121, 125, 122 ], [ 122, 125, 123 ], [ 122, 123, 120 ], [ 124, 127, 128 ], [ 124, 128, 125 ], [ 125, 128, 126 ], [ 125, 126, 123 ], [ 127, 130, 131 ], [ 127, 131, 128 ], [ 128, 131, 129 ], [ 128, 129, 126 ], [ 107, 4, 5 ], [ 107, 5, 106 ], [ 106, 5, 3 ], [ 106, 3, 105 ], [ 130, 133, 134 ], [ 130, 134, 131 ], [ 131, 134, 132 ], [ 131, 132, 129 ], [ 4, 49, 50 ], [ 4, 50, 5 ], [ 5, 50, 48 ], [ 5, 48, 3 ], [ 133, 136, 137 ], [ 133, 137, 134 ], [ 134, 137, 135 ], [ 134, 135, 132 ], [ 70, 67, 68 ], [ 49, 46, 47 ], [ 49, 47, 50 ], [ 50, 47, 45 ], [ 50, 45, 48 ], [ 70, 68, 71 ], [ 136, 140, 137 ], [ 137, 140, 138 ], [ 137, 138, 135 ], [ 71, 68, 66 ], [ 136, 139, 140 ], [ 46, 43, 44 ], [ 71, 66, 69 ], [ 47, 44, 42 ], [ 47, 42, 45 ], [ 46, 44, 47 ], [ 139, 143, 140 ], [ 140, 143, 141 ], [ 140, 141, 138 ], [ 139, 142, 143 ], [ 43, 40, 41 ], [ 43, 41, 44 ], [ 44, 41, 39 ], [ 44, 39, 42 ], [ 142, 145, 146 ], [ 142, 146, 143 ], [ 143, 146, 144 ], [ 143, 144, 141 ], [ 40, 37, 38 ], [ 40, 38, 41 ], [ 41, 38, 36 ], [ 41, 36, 39 ], [ 145, 148, 149 ], [ 145, 149, 146 ], [ 146, 149, 147 ], [ 146, 147, 144 ], [ 37, 34, 35 ], [ 37, 35, 38 ], [ 38, 35, 33 ], [ 38, 33, 36 ], [ 148, 151, 152 ], [ 148, 152, 149 ], [ 149, 152, 150 ], [ 149, 150, 147 ], [ 67, 64, 65 ], [ 34, 31, 32 ], [ 34, 32, 35 ], [ 35, 32, 30 ], [ 35, 30, 33 ], [ 67, 65, 68 ], [ 151, 106, 152 ], [ 152, 106, 105 ], [ 152, 105, 150 ], [ 68, 65, 63 ], [ 151, 107, 106 ], [ 31, 28, 29 ], [ 68, 63, 66 ], [ 32, 29, 27 ], [ 32, 27, 30 ], [ 31, 29, 32 ], [ 28, 25, 26 ], [ 28, 26, 29 ], [ 29, 26, 24 ], [ 29, 24, 27 ], [ 25, 22, 23 ], [ 25, 23, 26 ], [ 26, 23, 21 ], [ 26, 21, 24 ], [ 22, 19, 20 ], [ 22, 20, 23 ], [ 23, 20, 18 ], [ 23, 18, 21 ], [ 64, 61, 62 ], [ 19, 16, 17 ], [ 19, 17, 20 ], [ 20, 17, 15 ], [ 20, 15, 18 ], [ 64, 62, 65 ], [ 65, 62, 60 ], [ 16, 13, 14 ], [ 16, 14, 17 ], [ 65, 60, 63 ], [ 17, 12, 15 ], [ 17, 14, 12 ], [ 13, 10, 11 ], [ 13, 11, 14 ], [ 14, 11, 9 ], [ 14, 9, 12 ], [ 10, 7, 8 ], [ 10, 8, 11 ], [ 11, 8, 6 ], [ 11, 6, 9 ], [ 7, 1, 2 ], [ 7, 2, 8 ], [ 8, 2, 0 ], [ 8, 0, 6 ], [ 1, 55, 56 ], [ 1, 56, 2 ], [ 2, 56, 54 ], [ 2, 54, 0 ], [ 55, 100, 101 ], [ 55, 101, 56 ], [ 56, 101, 99 ], [ 56, 99, 54 ], [ 100, 97, 98 ], [ 100, 98, 101 ], [ 101, 98, 96 ], [ 101, 96, 99 ], [ 97, 94, 95 ], [ 97, 95, 98 ], [ 98, 95, 93 ], [ 98, 93, 96 ], [ 94, 91, 92 ], [ 94, 92, 95 ], [ 95, 92, 90 ], [ 95, 90, 93 ], [ 91, 88, 89 ], [ 91, 89, 92 ], [ 92, 89, 87 ], [ 92, 87, 90 ], [ 88, 85, 86 ], [ 88, 86, 89 ], [ 89, 86, 84 ], [ 89, 84, 87 ], [ 85, 82, 83 ], [ 85, 83, 86 ], [ 86, 83, 81 ], [ 86, 81, 84 ], [ 82, 79, 80 ], [ 82, 80, 83 ], [ 83, 80, 78 ], [ 83, 78, 81 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.0, 0.056963, 0.37857, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.3206537, "ixy": 5.229282e-09, "ixz": -3.854795e-09, "iyy": 0.3224873, "iyz": -0.008849827, "izz": 0.187364 }, "collision_meshes": [ "side_table_collision_0.obj", "side_table_collision_1.obj", "side_table_collision_2.obj", "side_table_collision_3.obj", "side_table_collision_4.obj", "side_table_collision_5.obj", "side_table_collision_6.obj", "side_table_collision_7.obj", "side_table_collision_8.obj", "side_table_collision_9.obj", "side_table_collision_10.obj", "side_table_collision_11.obj", "side_table_collision_12.obj", "side_table_collision_13.obj", "side_table_collision_14.obj", "side_table_collision_15.obj", "side_table_collision_16.obj", "side_table_collision_17.obj", "side_table_collision_18.obj", "side_table_collision_19.obj", "side_table_collision_20.obj", "side_table_collision_21.obj", "side_table_collision_22.obj", "side_table_collision_23.obj", "side_table_collision_24.obj", "side_table_collision_25.obj", "side_table_collision_26.obj", "side_table_collision_27.obj", "side_table_collision_28.obj", "side_table_collision_29.obj", "side_table_collision_30.obj", "side_table_collision_31.obj", "side_table_collision_32.obj", "side_table_collision_33.obj", "side_table_collision_34.obj", "side_table_collision_35.obj", "side_table_collision_36.obj", "side_table_collision_37.obj", "side_table_collision_38.obj", "side_table_collision_39.obj", "side_table_collision_40.obj", "side_table_collision_41.obj", "side_table_collision_42.obj", "side_table_collision_43.obj", "side_table_collision_44.obj", "side_table_collision_45.obj", "side_table_collision_46.obj", "side_table_collision_47.obj", "side_table_collision_48.obj", "side_table_collision_49.obj", "side_table_collision_50.obj", "side_table_collision_51.obj", "side_table_collision_52.obj", "side_table_collision_53.obj", "side_table_collision_54.obj", "side_table_collision_55.obj", "side_table_collision_56.obj", "side_table_collision_57.obj", "side_table_collision_58.obj", "side_table_collision_59.obj", "side_table_collision_60.obj", "side_table_collision_61.obj", "side_table_collision_62.obj", "side_table_collision_63.obj", "side_table_collision_64.obj", "side_table_collision_65.obj", "side_table_collision_66.obj", "side_table_collision_67.obj", "side_table_collision_68.obj", "side_table_collision_69.obj", "side_table_collision_70.obj", "side_table_collision_71.obj", "side_table_collision_72.obj", "side_table_collision_73.obj", "side_table_collision_74.obj", "side_table_collision_75.obj", "side_table_collision_76.obj", "side_table_collision_77.obj", "side_table_collision_78.obj", "side_table_collision_79.obj", "side_table_collision_80.obj", "side_table_collision_81.obj", "side_table_collision_82.obj", "side_table_collision_83.obj", "side_table_collision_84.obj", "side_table_collision_85.obj", "side_table_collision_86.obj", "side_table_collision_87.obj", "side_table_collision_88.obj", "side_table_collision_89.obj", "side_table_collision_90.obj", "side_table_collision_91.obj", "side_table_collision_92.obj", "side_table_collision_93.obj", "side_table_collision_94.obj", "side_table_collision_95.obj", "side_table_collision_96.obj", "side_table_collision_97.obj", "side_table_collision_98.obj", "side_table_collision_99.obj", "side_table_collision_100.obj", "side_table_collision_101.obj", "side_table_collision_102.obj", "side_table_collision_103.obj", "side_table_collision_104.obj", "side_table_collision_105.obj", "side_table_collision_106.obj", "side_table_collision_107.obj", "side_table_collision_108.obj", "side_table_collision_109.obj", "side_table_collision_110.obj", "side_table_collision_111.obj", "side_table_collision_112.obj", "side_table_collision_113.obj", "side_table_collision_114.obj", "side_table_collision_115.obj", "side_table_collision_116.obj", "side_table_collision_117.obj", "side_table_collision_118.obj", "side_table_collision_119.obj", "side_table_collision_120.obj", "side_table_collision_121.obj", "side_table_collision_122.obj", "side_table_collision_123.obj", "side_table_collision_124.obj", "side_table_collision_125.obj", "side_table_collision_126.obj", "side_table_collision_127.obj" ], "collision_mesh_info": [ { "uri": "side_table_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "side_table.gltf" ], "visual_mesh_info": [ { "uri": "side_table.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "side_table_2", "room_id": "living_room", "name": "side_table", "description": "small wooden corner side table", "object_type": "furniture", "transform": { "translation": [ -2.21147431832091, -1.1785310772894462, -0.0011120664299860655 ], "rotation_wxyz": [ 0.9999854706528365, 0.0011047034678801173, -5.886109964608641e-06, -0.005276180325473664 ] }, "bbox_min": [ -0.2250000238418579, -0.20871710777282715, 0.0 ], "bbox_max": [ 0.22499997913837433, 0.22648027539253235, 0.5921052694320679 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "image_path": "generated_assets/furniture/images/side_table_1777492346889.png", "support_surfaces": [ { "surface_id": "S_4", "bounding_box_min": [ -0.21445375680923462, -0.19584782421588898, 0.01 ], "bounding_box_max": [ 0.21445375680923462, 0.19584782421588898, 0.5 ], "transform": { "translation": [ -2.21066086388724, -1.1014397744615663, 0.6011650109000263 ], "rotation_wxyz": [ 0.9999854706528365, 0.0011047034678801173, -5.886109964608641e-06, -0.005276180325473664 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.16267315164936452, 0.14094891482838373, -0.010000000000000009 ], [ 0.16275105492008596, 0.14450154537209253, -0.010000000000000009 ], [ 0.16271347419155507, 0.14278789693363886, -0.010000000000000009 ], [ 0.20159891859424978, 0.07415000432976465, -0.010000000000000009 ], [ 0.20472816244495778, 0.07246624762066584, -0.010000000000000009 ], [ 0.2032187344206658, 0.07327842051037531, -0.010000000000000009 ], [ 0.17067661003006368, 0.14059837991245966, -0.010000000000000009 ], [ 0.17100008443725973, 0.1441402369166253, -0.010000000000000009 ], [ 0.17084405437839895, 0.1424317442799447, -0.010000000000000009 ], [ 0.17796387390030294, 0.1395837002421258, -0.010000000000000009 ], [ 0.17863928393257528, 0.14307656222828607, -0.010000000000000009 ], [ 0.178313484944233, 0.1413917326355813, -0.010000000000000009 ], [ 0.18460472539795308, 0.1379325770760415, -0.010000000000000009 ], [ 0.1856650324238625, 0.1413297289038537, -0.010000000000000009 ], [ 0.18515357986820608, 0.13969107800968866, -0.010000000000000009 ], [ 0.19053564087284475, 0.13569083148487787, -0.010000000000000009 ], [ 0.19200990215671926, 0.13893150621899347, -0.010000000000000009 ], [ 0.19129875913990407, 0.13736832970627527, -0.010000000000000009 ], [ 0.19571264699829488, 0.13291274839886408, -0.010000000000000009 ], [ 0.19761935488117605, 0.13592139715203028, -0.010000000000000009 ], [ 0.19669964031113057, 0.13447014326103907, -0.010000000000000009 ], [ 0.20011717692745595, 0.12965250844010096, -0.010000000000000009 ], [ 0.2024550350083199, 0.1323420637274621, -0.010000000000000009 ], [ 0.2013273449314919, 0.13104473883160334, -0.010000000000000009 ], [ 0.20375481859577566, 0.12595240110405664, -0.010000000000000009 ], [ 0.20649430767429738, 0.1282333516503213, -0.010000000000000009 ], [ 0.20517287269962697, 0.12713312441357355, -0.010000000000000009 ], [ 0.2066453756464806, 0.12183185750492792, -0.010000000000000009 ], [ 0.20972578839195638, 0.12362683648117762, -0.010000000000000009 ], [ 0.20823990420235067, 0.12276101941117029, -0.010000000000000009 ], [ 0.2088053436650124, 0.11728531950958948, -0.010000000000000009 ], [ 0.21214044705761342, 0.1185442292118905, -0.010000000000000009 ], [ 0.21053173259628682, 0.11793699199208002, -0.010000000000000009 ], [ 0.21023113147152334, 0.11229627663143854, -0.010000000000000009 ], [ 0.21372365073097616, 0.11300430530556421, -0.010000000000000009 ], [ 0.2120389999522057, 0.11266278559216242, -0.010000000000000009 ], [ 0.21089612559212118, 0.10685702497013788, -0.010000000000000009 ], [ 0.21445374802482992, 0.1070325755501626, -0.010000000000000009 ], [ 0.21273770049942403, 0.10694789225109796, -0.010000000000000009 ], [ 0.21076076344383626, 0.10098321074494104, -0.010000000000000009 ], [ 0.21430707589519887, 0.10066815549381952, -0.010000000000000009 ], [ 0.21259645239246755, 0.10082013243683557, -0.010000000000000009 ], [ 0.20978710667026906, 0.09471797281750421, -0.010000000000000009 ], [ 0.21326544002426534, 0.09396562808998804, -0.010000000000000009 ], [ 0.21158762887848287, 0.094328530969703, -0.010000000000000009 ], [ 0.20794959977997213, 0.08812617594250421, -0.010000000000000009 ], [ 0.21132144943607717, 0.08699182504662256, -0.010000000000000009 ], [ 0.2096950025929299, 0.08753899568566065, -0.010000000000000009 ], [ 0.20523976401222616, 0.08128609591969232, -0.010000000000000009 ], [ 0.20848070696724325, 0.07982126707085352, -0.010000000000000009 ], [ 0.2069174112452355, 0.0805278354311822, -0.010000000000000009 ], [ -0.20159893616305918, 0.07414997452744226, -0.010000000000000009 ], [ -0.2047281800137672, 0.07246621781834345, -0.010000000000000009 ], [ -0.2032187519894752, 0.07327839070805292, -0.010000000000000009 ], [ -0.16267316921817393, 0.14094888502606134, -0.010000000000000009 ], [ -0.16275108739005656, 0.14450151556977014, -0.010000000000000009 ], [ -0.16271349176036448, 0.14278786713131647, -0.010000000000000009 ], [ -0.20523976667987437, 0.08128605121620874, -0.010000000000000009 ], [ -0.20848072453605265, 0.07982123726853113, -0.010000000000000009 ], [ -0.2069174288140449, 0.0805278056288598, -0.010000000000000009 ], [ -0.20794961734878153, 0.08812614614018183, -0.010000000000000009 ], [ -0.21132146700488658, 0.08699178034313898, -0.010000000000000009 ], [ -0.2096950052605781, 0.08753895098217707, -0.010000000000000009 ], [ -0.20978712423907847, 0.09471794301518183, -0.010000000000000009 ], [ -0.21326545759307475, 0.09396559828766565, -0.010000000000000009 ], [ -0.21158764644729228, 0.09432848626621942, -0.010000000000000009 ], [ -0.21076078101264567, 0.10098318094261866, -0.010000000000000009 ], [ -0.21430709346400828, 0.10066812569149713, -0.010000000000000009 ], [ -0.21259646996127696, 0.10082008773335199, -0.010000000000000009 ], [ -0.21089614316093058, 0.1068569802666543, -0.010000000000000009 ], [ -0.21445376559363932, 0.10703254574784021, -0.010000000000000009 ], [ -0.21273771806823344, 0.10694786244877558, -0.010000000000000009 ], [ -0.21023114904033274, 0.11229623192795496, -0.010000000000000009 ], [ -0.21372366829978556, 0.11300427550324182, -0.010000000000000009 ], [ -0.21203901752101512, 0.11266274088867884, -0.010000000000000009 ], [ -0.20880536123382182, 0.11728528970726709, -0.010000000000000009 ], [ -0.21214046462642283, 0.11854419940956812, -0.010000000000000009 ], [ -0.21053175016509623, 0.11793696218975763, -0.010000000000000009 ], [ -0.20664539321529002, 0.12183182770260553, -0.010000000000000009 ], [ -0.2097258059607658, 0.12362680667885523, -0.010000000000000009 ], [ -0.20823993667232127, 0.12276097470768671, -0.010000000000000009 ], [ -0.20375483616458506, 0.12595238620289545, -0.010000000000000009 ], [ -0.20649434014426798, 0.1282333367491601, -0.010000000000000009 ], [ -0.20517292007075877, 0.12713310951241236, -0.010000000000000009 ], [ -0.20011719449626536, 0.12965247863777857, -0.010000000000000009 ], [ -0.2024550674782905, 0.13234201902397852, -0.010000000000000009 ], [ -0.2013273774014625, 0.13104469412811975, -0.010000000000000009 ], [ -0.19571267946826548, 0.1329127185965417, -0.010000000000000009 ], [ -0.19761937244998545, 0.1359213673497079, -0.010000000000000009 ], [ -0.19669965787993998, 0.13447009855755548, -0.010000000000000009 ], [ -0.19053565844165415, 0.13569080168255548, -0.010000000000000009 ], [ -0.19200991972552867, 0.13893147641667108, -0.010000000000000009 ], [ -0.19129879160987467, 0.1373682850027917, -0.010000000000000009 ], [ -0.18460475786792369, 0.13793254727371912, -0.010000000000000009 ], [ -0.18566504999267192, 0.14132969910153131, -0.010000000000000009 ], [ -0.18515359743701548, 0.13969104820736628, -0.010000000000000009 ], [ -0.17796390637027354, 0.1395836704398034, -0.010000000000000009 ], [ -0.17863930150138468, 0.1430765324259637, -0.010000000000000009 ], [ -0.1783135025130424, 0.14139168793209772, -0.010000000000000009 ], [ -0.17067664250003428, 0.14059835011013727, -0.010000000000000009 ], [ -0.17100011690723033, 0.14414020711430292, -0.010000000000000009 ], [ -0.17084408684836955, 0.14243171447762232, -0.010000000000000009 ], [ -0.03768123074637981, -0.2151165372704627, -0.010000000000000009 ], [ -0.04073425143229099, -0.2169347918604972, -0.010000000000000009 ], [ -0.03926158457266422, -0.2160577393149497, -0.010000000000000009 ], [ 0.037681269056924864, -0.2151165223693015, -0.010000000000000009 ], [ 0.03926162660849957, -0.2160577244137885, -0.010000000000000009 ], [ 0.04073428974283604, -0.2169347918604972, -0.010000000000000009 ], [ -0.033436459891668276, -0.22190575963012, -0.010000000000000009 ], [ -0.03636049985157581, -0.22393035059920569, -0.010000000000000009 ], [ -0.03495005651580425, -0.2229537582968833, -0.010000000000000009 ], [ -0.02898407302068801, -0.22773303752890844, -0.010000000000000009 ], [ -0.03169376909004779, -0.2300381577586295, -0.010000000000000009 ], [ -0.03038671746121974, -0.228926262912667, -0.010000000000000009 ], [ -0.024316131539812994, -0.23267041808120031, -0.010000000000000009 ], [ -0.026753592707386923, -0.2352634883498313, -0.010000000000000009 ], [ -0.025577861286869955, -0.23401269978038092, -0.010000000000000009 ], [ -0.0195059659259233, -0.2366852081393363, -0.010000000000000009 ], [ -0.021601730428806257, -0.23956345683089514, -0.010000000000000009 ], [ -0.02059081702696414, -0.23817510074130316, -0.010000000000000009 ], [ -0.014624583006075335, -0.23976740902415533, -0.010000000000000009 ], [ -0.016300159909001303, -0.24291098779193182, -0.010000000000000009 ], [ -0.015491928376427603, -0.24139464562884588, -0.010000000000000009 ], [ -0.009729849577120257, -0.241931057629502, -0.010000000000000009 ], [ -0.010905361205509615, -0.24529568022242804, -0.010000000000000009 ], [ -0.0103383394257936, -0.24367270534983893, -0.010000000000000009 ], [ -0.004854422465136957, -0.24320729738227148, -0.010000000000000009 ], [ -0.005462039198896599, -0.24672058886042852, -0.010000000000000009 ], [ -0.005168948725036097, -0.2450259245013358, -0.010000000000000009 ], [ 2.0878475445007707e-08, -0.24362815087786932, -0.010000000000000009 ], [ 2.1224685616649977e-08, -0.24719410305968542, -0.010000000000000009 ], [ 2.1057077467068366e-08, -0.2454740024184348, -0.010000000000000009 ], [ 0.0048544645009723185, -0.24320729738227148, -0.010000000000000009 ], [ 0.0054620817003932474, -0.24672058886042852, -0.010000000000000009 ], [ 0.0051689916921940325, -0.2450259245013358, -0.010000000000000009 ], [ 0.009729892544278192, -0.241931057629502, -0.010000000000000009 ], [ 0.010905404172667551, -0.24529568022242804, -0.010000000000000009 ], [ 0.010338382392951536, -0.24367270534983893, -0.010000000000000009 ], [ 0.014624623179265547, -0.23976740902415533, -0.010000000000000009 ], [ 0.016300203807481813, -0.24291097289077063, -0.010000000000000009 ], [ 0.01549196761829524, -0.24139464562884588, -0.010000000000000009 ], [ 0.01950600796175866, -0.2366852081393363, -0.010000000000000009 ], [ 0.021601774327286768, -0.23956345683089514, -0.010000000000000009 ], [ 0.020590857200154352, -0.23817510074130316, -0.010000000000000009 ], [ 0.024316171713003206, -0.23267041808120031, -0.010000000000000009 ], [ 0.026753632880577135, -0.2352634883498313, -0.010000000000000009 ], [ 0.025577901460060167, -0.23401269978038092, -0.010000000000000009 ], [ 0.028984111331233072, -0.22773302262774725, -0.010000000000000009 ], [ 0.03169380740059285, -0.2300381577586295, -0.010000000000000009 ], [ 0.030386757634409952, -0.228926262912667, -0.010000000000000009 ], [ 0.03343649820221333, -0.2219057447289588, -0.010000000000000009 ], [ 0.03636052326095967, -0.2239303207968833, -0.010000000000000009 ], [ 0.03495008365047841, -0.2229537433957221, -0.010000000000000009 ] ], "faces": [ [ 79, 76, 77 ], [ 79, 77, 80 ], [ 80, 77, 75 ], [ 80, 75, 78 ], [ 76, 73, 74 ], [ 76, 74, 77 ], [ 77, 74, 72 ], [ 77, 72, 75 ], [ 73, 70, 71 ], [ 73, 71, 74 ], [ 74, 71, 69 ], [ 74, 69, 72 ], [ 105, 3, 48 ], [ 48, 45, 42 ], [ 42, 39, 36 ], [ 36, 33, 30 ], [ 30, 27, 24 ], [ 24, 21, 18 ], [ 18, 15, 12 ], [ 12, 9, 6 ], [ 6, 0, 54 ], [ 54, 99, 96 ], [ 96, 93, 90 ], [ 90, 87, 84 ], [ 84, 81, 78 ], [ 78, 75, 72 ], [ 72, 69, 66 ], [ 66, 63, 60 ], [ 60, 57, 51 ], [ 51, 102, 108 ], [ 108, 111, 114 ], [ 114, 117, 120 ], [ 120, 123, 126 ], [ 126, 129, 132 ], [ 132, 135, 138 ], [ 138, 141, 144 ], [ 144, 147, 150 ], [ 150, 105, 48 ], [ 48, 42, 36 ], [ 36, 30, 24 ], [ 24, 18, 12 ], [ 12, 6, 54 ], [ 54, 96, 90 ], [ 90, 84, 78 ], [ 78, 72, 66 ], [ 66, 60, 51 ], [ 51, 108, 114 ], [ 114, 120, 126 ], [ 126, 132, 138 ], [ 138, 144, 150 ], [ 150, 48, 36 ], [ 36, 24, 12 ], [ 12, 54, 90 ], [ 90, 78, 66 ], [ 66, 51, 114 ], [ 114, 126, 138 ], [ 138, 150, 36 ], [ 36, 12, 90 ], [ 90, 66, 114 ], [ 114, 138, 36 ], [ 36, 90, 114 ], [ 62, 57, 60 ], [ 62, 59, 57 ], [ 61, 59, 62 ], [ 61, 58, 59 ], [ 58, 52, 53 ], [ 58, 53, 59 ], [ 59, 53, 51 ], [ 59, 51, 57 ], [ 52, 103, 104 ], [ 52, 104, 53 ], [ 53, 104, 102 ], [ 53, 102, 51 ], [ 103, 109, 110 ], [ 103, 110, 104 ], [ 104, 110, 108 ], [ 104, 108, 102 ], [ 109, 112, 113 ], [ 109, 113, 110 ], [ 110, 113, 111 ], [ 110, 111, 108 ], [ 112, 115, 116 ], [ 112, 116, 113 ], [ 113, 116, 114 ], [ 113, 114, 111 ], [ 115, 118, 119 ], [ 115, 119, 116 ], [ 116, 119, 117 ], [ 116, 117, 114 ], [ 118, 121, 122 ], [ 118, 122, 119 ], [ 119, 122, 120 ], [ 119, 120, 117 ], [ 121, 124, 125 ], [ 121, 125, 122 ], [ 122, 125, 123 ], [ 122, 123, 120 ], [ 124, 127, 128 ], [ 124, 128, 125 ], [ 125, 128, 126 ], [ 125, 126, 123 ], [ 127, 130, 131 ], [ 127, 131, 128 ], [ 128, 131, 129 ], [ 128, 129, 126 ], [ 107, 4, 5 ], [ 107, 5, 106 ], [ 106, 5, 3 ], [ 106, 3, 105 ], [ 130, 133, 134 ], [ 130, 134, 131 ], [ 131, 134, 132 ], [ 131, 132, 129 ], [ 4, 49, 50 ], [ 4, 50, 5 ], [ 5, 50, 48 ], [ 5, 48, 3 ], [ 133, 136, 137 ], [ 133, 137, 134 ], [ 134, 137, 135 ], [ 134, 135, 132 ], [ 70, 67, 68 ], [ 49, 46, 47 ], [ 49, 47, 50 ], [ 50, 47, 45 ], [ 50, 45, 48 ], [ 70, 68, 71 ], [ 136, 140, 137 ], [ 137, 140, 138 ], [ 137, 138, 135 ], [ 71, 68, 66 ], [ 136, 139, 140 ], [ 46, 43, 44 ], [ 71, 66, 69 ], [ 47, 44, 42 ], [ 47, 42, 45 ], [ 46, 44, 47 ], [ 139, 143, 140 ], [ 140, 143, 141 ], [ 140, 141, 138 ], [ 139, 142, 143 ], [ 43, 40, 41 ], [ 43, 41, 44 ], [ 44, 41, 39 ], [ 44, 39, 42 ], [ 142, 145, 146 ], [ 142, 146, 143 ], [ 143, 146, 144 ], [ 143, 144, 141 ], [ 40, 37, 38 ], [ 40, 38, 41 ], [ 41, 38, 36 ], [ 41, 36, 39 ], [ 145, 148, 149 ], [ 145, 149, 146 ], [ 146, 149, 147 ], [ 146, 147, 144 ], [ 37, 34, 35 ], [ 37, 35, 38 ], [ 38, 35, 33 ], [ 38, 33, 36 ], [ 148, 151, 152 ], [ 148, 152, 149 ], [ 149, 152, 150 ], [ 149, 150, 147 ], [ 67, 64, 65 ], [ 34, 31, 32 ], [ 34, 32, 35 ], [ 35, 32, 30 ], [ 35, 30, 33 ], [ 67, 65, 68 ], [ 151, 106, 152 ], [ 152, 106, 105 ], [ 152, 105, 150 ], [ 68, 65, 63 ], [ 151, 107, 106 ], [ 31, 28, 29 ], [ 68, 63, 66 ], [ 32, 29, 27 ], [ 32, 27, 30 ], [ 31, 29, 32 ], [ 28, 25, 26 ], [ 28, 26, 29 ], [ 29, 26, 24 ], [ 29, 24, 27 ], [ 25, 22, 23 ], [ 25, 23, 26 ], [ 26, 23, 21 ], [ 26, 21, 24 ], [ 22, 19, 20 ], [ 22, 20, 23 ], [ 23, 20, 18 ], [ 23, 18, 21 ], [ 64, 61, 62 ], [ 19, 16, 17 ], [ 19, 17, 20 ], [ 20, 17, 15 ], [ 20, 15, 18 ], [ 64, 62, 65 ], [ 65, 62, 60 ], [ 16, 13, 14 ], [ 16, 14, 17 ], [ 65, 60, 63 ], [ 17, 12, 15 ], [ 17, 14, 12 ], [ 13, 10, 11 ], [ 13, 11, 14 ], [ 14, 11, 9 ], [ 14, 9, 12 ], [ 10, 7, 8 ], [ 10, 8, 11 ], [ 11, 8, 6 ], [ 11, 6, 9 ], [ 7, 1, 2 ], [ 7, 2, 8 ], [ 8, 2, 0 ], [ 8, 0, 6 ], [ 1, 55, 56 ], [ 1, 56, 2 ], [ 2, 56, 54 ], [ 2, 54, 0 ], [ 55, 100, 101 ], [ 55, 101, 56 ], [ 56, 101, 99 ], [ 56, 99, 54 ], [ 100, 97, 98 ], [ 100, 98, 101 ], [ 101, 98, 96 ], [ 101, 96, 99 ], [ 97, 94, 95 ], [ 97, 95, 98 ], [ 98, 95, 93 ], [ 98, 93, 96 ], [ 94, 91, 92 ], [ 94, 92, 95 ], [ 95, 92, 90 ], [ 95, 90, 93 ], [ 91, 88, 89 ], [ 91, 89, 92 ], [ 92, 89, 87 ], [ 92, 87, 90 ], [ 88, 85, 86 ], [ 88, 86, 89 ], [ 89, 86, 84 ], [ 89, 84, 87 ], [ 85, 82, 83 ], [ 85, 83, 86 ], [ 86, 83, 81 ], [ 86, 81, 84 ], [ 82, 79, 80 ], [ 82, 80, 83 ], [ 83, 80, 78 ], [ 83, 78, 81 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.0, 0.056963, 0.37857, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.3206537, "ixy": 5.229282e-09, "ixz": -3.854795e-09, "iyy": 0.3224873, "iyz": -0.008849827, "izz": 0.187364 }, "collision_meshes": [ "side_table_collision_0.obj", "side_table_collision_1.obj", "side_table_collision_2.obj", "side_table_collision_3.obj", "side_table_collision_4.obj", "side_table_collision_5.obj", "side_table_collision_6.obj", "side_table_collision_7.obj", "side_table_collision_8.obj", "side_table_collision_9.obj", "side_table_collision_10.obj", "side_table_collision_11.obj", "side_table_collision_12.obj", "side_table_collision_13.obj", "side_table_collision_14.obj", "side_table_collision_15.obj", "side_table_collision_16.obj", "side_table_collision_17.obj", "side_table_collision_18.obj", "side_table_collision_19.obj", "side_table_collision_20.obj", "side_table_collision_21.obj", "side_table_collision_22.obj", "side_table_collision_23.obj", "side_table_collision_24.obj", "side_table_collision_25.obj", "side_table_collision_26.obj", "side_table_collision_27.obj", "side_table_collision_28.obj", "side_table_collision_29.obj", "side_table_collision_30.obj", "side_table_collision_31.obj", "side_table_collision_32.obj", "side_table_collision_33.obj", "side_table_collision_34.obj", "side_table_collision_35.obj", "side_table_collision_36.obj", "side_table_collision_37.obj", "side_table_collision_38.obj", "side_table_collision_39.obj", "side_table_collision_40.obj", "side_table_collision_41.obj", "side_table_collision_42.obj", "side_table_collision_43.obj", "side_table_collision_44.obj", "side_table_collision_45.obj", "side_table_collision_46.obj", "side_table_collision_47.obj", "side_table_collision_48.obj", "side_table_collision_49.obj", "side_table_collision_50.obj", "side_table_collision_51.obj", "side_table_collision_52.obj", "side_table_collision_53.obj", "side_table_collision_54.obj", "side_table_collision_55.obj", "side_table_collision_56.obj", "side_table_collision_57.obj", "side_table_collision_58.obj", "side_table_collision_59.obj", "side_table_collision_60.obj", "side_table_collision_61.obj", "side_table_collision_62.obj", "side_table_collision_63.obj", "side_table_collision_64.obj", "side_table_collision_65.obj", "side_table_collision_66.obj", "side_table_collision_67.obj", "side_table_collision_68.obj", "side_table_collision_69.obj", "side_table_collision_70.obj", "side_table_collision_71.obj", "side_table_collision_72.obj", "side_table_collision_73.obj", "side_table_collision_74.obj", "side_table_collision_75.obj", "side_table_collision_76.obj", "side_table_collision_77.obj", "side_table_collision_78.obj", "side_table_collision_79.obj", "side_table_collision_80.obj", "side_table_collision_81.obj", "side_table_collision_82.obj", "side_table_collision_83.obj", "side_table_collision_84.obj", "side_table_collision_85.obj", "side_table_collision_86.obj", "side_table_collision_87.obj", "side_table_collision_88.obj", "side_table_collision_89.obj", "side_table_collision_90.obj", "side_table_collision_91.obj", "side_table_collision_92.obj", "side_table_collision_93.obj", "side_table_collision_94.obj", "side_table_collision_95.obj", "side_table_collision_96.obj", "side_table_collision_97.obj", "side_table_collision_98.obj", "side_table_collision_99.obj", "side_table_collision_100.obj", "side_table_collision_101.obj", "side_table_collision_102.obj", "side_table_collision_103.obj", "side_table_collision_104.obj", "side_table_collision_105.obj", "side_table_collision_106.obj", "side_table_collision_107.obj", "side_table_collision_108.obj", "side_table_collision_109.obj", "side_table_collision_110.obj", "side_table_collision_111.obj", "side_table_collision_112.obj", "side_table_collision_113.obj", "side_table_collision_114.obj", "side_table_collision_115.obj", "side_table_collision_116.obj", "side_table_collision_117.obj", "side_table_collision_118.obj", "side_table_collision_119.obj", "side_table_collision_120.obj", "side_table_collision_121.obj", "side_table_collision_122.obj", "side_table_collision_123.obj", "side_table_collision_124.obj", "side_table_collision_125.obj", "side_table_collision_126.obj", "side_table_collision_127.obj" ], "collision_mesh_info": [ { "uri": "side_table_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "side_table.gltf" ], "visual_mesh_info": [ { "uri": "side_table.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "side_table_3", "room_id": "living_room", "name": "side_table", "description": "small wooden corner side table", "object_type": "furniture", "transform": { "translation": [ 2.2497691452020607, -1.2244616384639135, -0.0011120664299860644 ], "rotation_wxyz": [ 0.999938776140729, 0.0011046515543404886, -1.2220545405435372e-05, -0.011010157391377588 ] }, "bbox_min": [ -0.2250000238418579, -0.20871710777282715, 0.0 ], "bbox_max": [ 0.22499997913837433, 0.22648027539253235, 0.5921052694320679 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path": "generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "image_path": "generated_assets/furniture/images/side_table_1777492346889.png", "support_surfaces": [ { "surface_id": "S_5", "bounding_box_min": [ -0.21445375680923462, -0.19584782421588898, 0.01 ], "bounding_box_max": [ 0.21445375680923462, 0.19584782421588898, 0.5 ], "transform": { "translation": [ 2.2514666373516548, -1.1473847340098708, 0.6011650109000263 ], "rotation_wxyz": [ 0.999938776140729, 0.0011046515543404886, -1.2220545405435372e-05, -0.011010157391377588 ] }, "link_name": null, "mesh": { "vertices": [ [ 0.16267315164936452, 0.14094891482838373, -0.010000000000000009 ], [ 0.16275105492008596, 0.14450154537209253, -0.010000000000000009 ], [ 0.16271347419155507, 0.14278789693363886, -0.010000000000000009 ], [ 0.20159891859424978, 0.07415000432976465, -0.010000000000000009 ], [ 0.20472816244495778, 0.07246624762066584, -0.010000000000000009 ], [ 0.2032187344206658, 0.07327842051037531, -0.010000000000000009 ], [ 0.17067661003006368, 0.14059837991245966, -0.010000000000000009 ], [ 0.17100008443725973, 0.1441402369166253, -0.010000000000000009 ], [ 0.17084405437839895, 0.1424317442799447, -0.010000000000000009 ], [ 0.17796387390030294, 0.1395837002421258, -0.010000000000000009 ], [ 0.17863928393257528, 0.14307656222828607, -0.010000000000000009 ], [ 0.178313484944233, 0.1413917326355813, -0.010000000000000009 ], [ 0.18460472539795308, 0.1379325770760415, -0.010000000000000009 ], [ 0.1856650324238625, 0.1413297289038537, -0.010000000000000009 ], [ 0.18515357986820608, 0.13969107800968866, -0.010000000000000009 ], [ 0.19053564087284475, 0.13569083148487787, -0.010000000000000009 ], [ 0.19200990215671926, 0.13893150621899347, -0.010000000000000009 ], [ 0.19129875913990407, 0.13736832970627527, -0.010000000000000009 ], [ 0.19571264699829488, 0.13291274839886408, -0.010000000000000009 ], [ 0.19761935488117605, 0.13592139715203028, -0.010000000000000009 ], [ 0.19669964031113057, 0.13447014326103907, -0.010000000000000009 ], [ 0.20011717692745595, 0.12965250844010096, -0.010000000000000009 ], [ 0.2024550350083199, 0.1323420637274621, -0.010000000000000009 ], [ 0.2013273449314919, 0.13104473883160334, -0.010000000000000009 ], [ 0.20375481859577566, 0.12595240110405664, -0.010000000000000009 ], [ 0.20649430767429738, 0.1282333516503213, -0.010000000000000009 ], [ 0.20517287269962697, 0.12713312441357355, -0.010000000000000009 ], [ 0.2066453756464806, 0.12183185750492792, -0.010000000000000009 ], [ 0.20972578839195638, 0.12362683648117762, -0.010000000000000009 ], [ 0.20823990420235067, 0.12276101941117029, -0.010000000000000009 ], [ 0.2088053436650124, 0.11728531950958948, -0.010000000000000009 ], [ 0.21214044705761342, 0.1185442292118905, -0.010000000000000009 ], [ 0.21053173259628682, 0.11793699199208002, -0.010000000000000009 ], [ 0.21023113147152334, 0.11229627663143854, -0.010000000000000009 ], [ 0.21372365073097616, 0.11300430530556421, -0.010000000000000009 ], [ 0.2120389999522057, 0.11266278559216242, -0.010000000000000009 ], [ 0.21089612559212118, 0.10685702497013788, -0.010000000000000009 ], [ 0.21445374802482992, 0.1070325755501626, -0.010000000000000009 ], [ 0.21273770049942403, 0.10694789225109796, -0.010000000000000009 ], [ 0.21076076344383626, 0.10098321074494104, -0.010000000000000009 ], [ 0.21430707589519887, 0.10066815549381952, -0.010000000000000009 ], [ 0.21259645239246755, 0.10082013243683557, -0.010000000000000009 ], [ 0.20978710667026906, 0.09471797281750421, -0.010000000000000009 ], [ 0.21326544002426534, 0.09396562808998804, -0.010000000000000009 ], [ 0.21158762887848287, 0.094328530969703, -0.010000000000000009 ], [ 0.20794959977997213, 0.08812617594250421, -0.010000000000000009 ], [ 0.21132144943607717, 0.08699182504662256, -0.010000000000000009 ], [ 0.2096950025929299, 0.08753899568566065, -0.010000000000000009 ], [ 0.20523976401222616, 0.08128609591969232, -0.010000000000000009 ], [ 0.20848070696724325, 0.07982126707085352, -0.010000000000000009 ], [ 0.2069174112452355, 0.0805278354311822, -0.010000000000000009 ], [ -0.20159893616305918, 0.07414997452744226, -0.010000000000000009 ], [ -0.2047281800137672, 0.07246621781834345, -0.010000000000000009 ], [ -0.2032187519894752, 0.07327839070805292, -0.010000000000000009 ], [ -0.16267316921817393, 0.14094888502606134, -0.010000000000000009 ], [ -0.16275108739005656, 0.14450151556977014, -0.010000000000000009 ], [ -0.16271349176036448, 0.14278786713131647, -0.010000000000000009 ], [ -0.20523976667987437, 0.08128605121620874, -0.010000000000000009 ], [ -0.20848072453605265, 0.07982123726853113, -0.010000000000000009 ], [ -0.2069174288140449, 0.0805278056288598, -0.010000000000000009 ], [ -0.20794961734878153, 0.08812614614018183, -0.010000000000000009 ], [ -0.21132146700488658, 0.08699178034313898, -0.010000000000000009 ], [ -0.2096950052605781, 0.08753895098217707, -0.010000000000000009 ], [ -0.20978712423907847, 0.09471794301518183, -0.010000000000000009 ], [ -0.21326545759307475, 0.09396559828766565, -0.010000000000000009 ], [ -0.21158764644729228, 0.09432848626621942, -0.010000000000000009 ], [ -0.21076078101264567, 0.10098318094261866, -0.010000000000000009 ], [ -0.21430709346400828, 0.10066812569149713, -0.010000000000000009 ], [ -0.21259646996127696, 0.10082008773335199, -0.010000000000000009 ], [ -0.21089614316093058, 0.1068569802666543, -0.010000000000000009 ], [ -0.21445376559363932, 0.10703254574784021, -0.010000000000000009 ], [ -0.21273771806823344, 0.10694786244877558, -0.010000000000000009 ], [ -0.21023114904033274, 0.11229623192795496, -0.010000000000000009 ], [ -0.21372366829978556, 0.11300427550324182, -0.010000000000000009 ], [ -0.21203901752101512, 0.11266274088867884, -0.010000000000000009 ], [ -0.20880536123382182, 0.11728528970726709, -0.010000000000000009 ], [ -0.21214046462642283, 0.11854419940956812, -0.010000000000000009 ], [ -0.21053175016509623, 0.11793696218975763, -0.010000000000000009 ], [ -0.20664539321529002, 0.12183182770260553, -0.010000000000000009 ], [ -0.2097258059607658, 0.12362680667885523, -0.010000000000000009 ], [ -0.20823993667232127, 0.12276097470768671, -0.010000000000000009 ], [ -0.20375483616458506, 0.12595238620289545, -0.010000000000000009 ], [ -0.20649434014426798, 0.1282333367491601, -0.010000000000000009 ], [ -0.20517292007075877, 0.12713310951241236, -0.010000000000000009 ], [ -0.20011719449626536, 0.12965247863777857, -0.010000000000000009 ], [ -0.2024550674782905, 0.13234201902397852, -0.010000000000000009 ], [ -0.2013273774014625, 0.13104469412811975, -0.010000000000000009 ], [ -0.19571267946826548, 0.1329127185965417, -0.010000000000000009 ], [ -0.19761937244998545, 0.1359213673497079, -0.010000000000000009 ], [ -0.19669965787993998, 0.13447009855755548, -0.010000000000000009 ], [ -0.19053565844165415, 0.13569080168255548, -0.010000000000000009 ], [ -0.19200991972552867, 0.13893147641667108, -0.010000000000000009 ], [ -0.19129879160987467, 0.1373682850027917, -0.010000000000000009 ], [ -0.18460475786792369, 0.13793254727371912, -0.010000000000000009 ], [ -0.18566504999267192, 0.14132969910153131, -0.010000000000000009 ], [ -0.18515359743701548, 0.13969104820736628, -0.010000000000000009 ], [ -0.17796390637027354, 0.1395836704398034, -0.010000000000000009 ], [ -0.17863930150138468, 0.1430765324259637, -0.010000000000000009 ], [ -0.1783135025130424, 0.14139168793209772, -0.010000000000000009 ], [ -0.17067664250003428, 0.14059835011013727, -0.010000000000000009 ], [ -0.17100011690723033, 0.14414020711430292, -0.010000000000000009 ], [ -0.17084408684836955, 0.14243171447762232, -0.010000000000000009 ], [ -0.03768123074637981, -0.2151165372704627, -0.010000000000000009 ], [ -0.04073425143229099, -0.2169347918604972, -0.010000000000000009 ], [ -0.03926158457266422, -0.2160577393149497, -0.010000000000000009 ], [ 0.037681269056924864, -0.2151165223693015, -0.010000000000000009 ], [ 0.03926162660849957, -0.2160577244137885, -0.010000000000000009 ], [ 0.04073428974283604, -0.2169347918604972, -0.010000000000000009 ], [ -0.033436459891668276, -0.22190575963012, -0.010000000000000009 ], [ -0.03636049985157581, -0.22393035059920569, -0.010000000000000009 ], [ -0.03495005651580425, -0.2229537582968833, -0.010000000000000009 ], [ -0.02898407302068801, -0.22773303752890844, -0.010000000000000009 ], [ -0.03169376909004779, -0.2300381577586295, -0.010000000000000009 ], [ -0.03038671746121974, -0.228926262912667, -0.010000000000000009 ], [ -0.024316131539812994, -0.23267041808120031, -0.010000000000000009 ], [ -0.026753592707386923, -0.2352634883498313, -0.010000000000000009 ], [ -0.025577861286869955, -0.23401269978038092, -0.010000000000000009 ], [ -0.0195059659259233, -0.2366852081393363, -0.010000000000000009 ], [ -0.021601730428806257, -0.23956345683089514, -0.010000000000000009 ], [ -0.02059081702696414, -0.23817510074130316, -0.010000000000000009 ], [ -0.014624583006075335, -0.23976740902415533, -0.010000000000000009 ], [ -0.016300159909001303, -0.24291098779193182, -0.010000000000000009 ], [ -0.015491928376427603, -0.24139464562884588, -0.010000000000000009 ], [ -0.009729849577120257, -0.241931057629502, -0.010000000000000009 ], [ -0.010905361205509615, -0.24529568022242804, -0.010000000000000009 ], [ -0.0103383394257936, -0.24367270534983893, -0.010000000000000009 ], [ -0.004854422465136957, -0.24320729738227148, -0.010000000000000009 ], [ -0.005462039198896599, -0.24672058886042852, -0.010000000000000009 ], [ -0.005168948725036097, -0.2450259245013358, -0.010000000000000009 ], [ 2.0878475445007707e-08, -0.24362815087786932, -0.010000000000000009 ], [ 2.1224685616649977e-08, -0.24719410305968542, -0.010000000000000009 ], [ 2.1057077467068366e-08, -0.2454740024184348, -0.010000000000000009 ], [ 0.0048544645009723185, -0.24320729738227148, -0.010000000000000009 ], [ 0.0054620817003932474, -0.24672058886042852, -0.010000000000000009 ], [ 0.0051689916921940325, -0.2450259245013358, -0.010000000000000009 ], [ 0.009729892544278192, -0.241931057629502, -0.010000000000000009 ], [ 0.010905404172667551, -0.24529568022242804, -0.010000000000000009 ], [ 0.010338382392951536, -0.24367270534983893, -0.010000000000000009 ], [ 0.014624623179265547, -0.23976740902415533, -0.010000000000000009 ], [ 0.016300203807481813, -0.24291097289077063, -0.010000000000000009 ], [ 0.01549196761829524, -0.24139464562884588, -0.010000000000000009 ], [ 0.01950600796175866, -0.2366852081393363, -0.010000000000000009 ], [ 0.021601774327286768, -0.23956345683089514, -0.010000000000000009 ], [ 0.020590857200154352, -0.23817510074130316, -0.010000000000000009 ], [ 0.024316171713003206, -0.23267041808120031, -0.010000000000000009 ], [ 0.026753632880577135, -0.2352634883498313, -0.010000000000000009 ], [ 0.025577901460060167, -0.23401269978038092, -0.010000000000000009 ], [ 0.028984111331233072, -0.22773302262774725, -0.010000000000000009 ], [ 0.03169380740059285, -0.2300381577586295, -0.010000000000000009 ], [ 0.030386757634409952, -0.228926262912667, -0.010000000000000009 ], [ 0.03343649820221333, -0.2219057447289588, -0.010000000000000009 ], [ 0.03636052326095967, -0.2239303207968833, -0.010000000000000009 ], [ 0.03495008365047841, -0.2229537433957221, -0.010000000000000009 ] ], "faces": [ [ 79, 76, 77 ], [ 79, 77, 80 ], [ 80, 77, 75 ], [ 80, 75, 78 ], [ 76, 73, 74 ], [ 76, 74, 77 ], [ 77, 74, 72 ], [ 77, 72, 75 ], [ 73, 70, 71 ], [ 73, 71, 74 ], [ 74, 71, 69 ], [ 74, 69, 72 ], [ 105, 3, 48 ], [ 48, 45, 42 ], [ 42, 39, 36 ], [ 36, 33, 30 ], [ 30, 27, 24 ], [ 24, 21, 18 ], [ 18, 15, 12 ], [ 12, 9, 6 ], [ 6, 0, 54 ], [ 54, 99, 96 ], [ 96, 93, 90 ], [ 90, 87, 84 ], [ 84, 81, 78 ], [ 78, 75, 72 ], [ 72, 69, 66 ], [ 66, 63, 60 ], [ 60, 57, 51 ], [ 51, 102, 108 ], [ 108, 111, 114 ], [ 114, 117, 120 ], [ 120, 123, 126 ], [ 126, 129, 132 ], [ 132, 135, 138 ], [ 138, 141, 144 ], [ 144, 147, 150 ], [ 150, 105, 48 ], [ 48, 42, 36 ], [ 36, 30, 24 ], [ 24, 18, 12 ], [ 12, 6, 54 ], [ 54, 96, 90 ], [ 90, 84, 78 ], [ 78, 72, 66 ], [ 66, 60, 51 ], [ 51, 108, 114 ], [ 114, 120, 126 ], [ 126, 132, 138 ], [ 138, 144, 150 ], [ 150, 48, 36 ], [ 36, 24, 12 ], [ 12, 54, 90 ], [ 90, 78, 66 ], [ 66, 51, 114 ], [ 114, 126, 138 ], [ 138, 150, 36 ], [ 36, 12, 90 ], [ 90, 66, 114 ], [ 114, 138, 36 ], [ 36, 90, 114 ], [ 62, 57, 60 ], [ 62, 59, 57 ], [ 61, 59, 62 ], [ 61, 58, 59 ], [ 58, 52, 53 ], [ 58, 53, 59 ], [ 59, 53, 51 ], [ 59, 51, 57 ], [ 52, 103, 104 ], [ 52, 104, 53 ], [ 53, 104, 102 ], [ 53, 102, 51 ], [ 103, 109, 110 ], [ 103, 110, 104 ], [ 104, 110, 108 ], [ 104, 108, 102 ], [ 109, 112, 113 ], [ 109, 113, 110 ], [ 110, 113, 111 ], [ 110, 111, 108 ], [ 112, 115, 116 ], [ 112, 116, 113 ], [ 113, 116, 114 ], [ 113, 114, 111 ], [ 115, 118, 119 ], [ 115, 119, 116 ], [ 116, 119, 117 ], [ 116, 117, 114 ], [ 118, 121, 122 ], [ 118, 122, 119 ], [ 119, 122, 120 ], [ 119, 120, 117 ], [ 121, 124, 125 ], [ 121, 125, 122 ], [ 122, 125, 123 ], [ 122, 123, 120 ], [ 124, 127, 128 ], [ 124, 128, 125 ], [ 125, 128, 126 ], [ 125, 126, 123 ], [ 127, 130, 131 ], [ 127, 131, 128 ], [ 128, 131, 129 ], [ 128, 129, 126 ], [ 107, 4, 5 ], [ 107, 5, 106 ], [ 106, 5, 3 ], [ 106, 3, 105 ], [ 130, 133, 134 ], [ 130, 134, 131 ], [ 131, 134, 132 ], [ 131, 132, 129 ], [ 4, 49, 50 ], [ 4, 50, 5 ], [ 5, 50, 48 ], [ 5, 48, 3 ], [ 133, 136, 137 ], [ 133, 137, 134 ], [ 134, 137, 135 ], [ 134, 135, 132 ], [ 70, 67, 68 ], [ 49, 46, 47 ], [ 49, 47, 50 ], [ 50, 47, 45 ], [ 50, 45, 48 ], [ 70, 68, 71 ], [ 136, 140, 137 ], [ 137, 140, 138 ], [ 137, 138, 135 ], [ 71, 68, 66 ], [ 136, 139, 140 ], [ 46, 43, 44 ], [ 71, 66, 69 ], [ 47, 44, 42 ], [ 47, 42, 45 ], [ 46, 44, 47 ], [ 139, 143, 140 ], [ 140, 143, 141 ], [ 140, 141, 138 ], [ 139, 142, 143 ], [ 43, 40, 41 ], [ 43, 41, 44 ], [ 44, 41, 39 ], [ 44, 39, 42 ], [ 142, 145, 146 ], [ 142, 146, 143 ], [ 143, 146, 144 ], [ 143, 144, 141 ], [ 40, 37, 38 ], [ 40, 38, 41 ], [ 41, 38, 36 ], [ 41, 36, 39 ], [ 145, 148, 149 ], [ 145, 149, 146 ], [ 146, 149, 147 ], [ 146, 147, 144 ], [ 37, 34, 35 ], [ 37, 35, 38 ], [ 38, 35, 33 ], [ 38, 33, 36 ], [ 148, 151, 152 ], [ 148, 152, 149 ], [ 149, 152, 150 ], [ 149, 150, 147 ], [ 67, 64, 65 ], [ 34, 31, 32 ], [ 34, 32, 35 ], [ 35, 32, 30 ], [ 35, 30, 33 ], [ 67, 65, 68 ], [ 151, 106, 152 ], [ 152, 106, 105 ], [ 152, 105, 150 ], [ 68, 65, 63 ], [ 151, 107, 106 ], [ 31, 28, 29 ], [ 68, 63, 66 ], [ 32, 29, 27 ], [ 32, 27, 30 ], [ 31, 29, 32 ], [ 28, 25, 26 ], [ 28, 26, 29 ], [ 29, 26, 24 ], [ 29, 24, 27 ], [ 25, 22, 23 ], [ 25, 23, 26 ], [ 26, 23, 21 ], [ 26, 21, 24 ], [ 22, 19, 20 ], [ 22, 20, 23 ], [ 23, 20, 18 ], [ 23, 18, 21 ], [ 64, 61, 62 ], [ 19, 16, 17 ], [ 19, 17, 20 ], [ 20, 17, 15 ], [ 20, 15, 18 ], [ 64, 62, 65 ], [ 65, 62, 60 ], [ 16, 13, 14 ], [ 16, 14, 17 ], [ 65, 60, 63 ], [ 17, 12, 15 ], [ 17, 14, 12 ], [ 13, 10, 11 ], [ 13, 11, 14 ], [ 14, 11, 9 ], [ 14, 9, 12 ], [ 10, 7, 8 ], [ 10, 8, 11 ], [ 11, 8, 6 ], [ 11, 6, 9 ], [ 7, 1, 2 ], [ 7, 2, 8 ], [ 8, 2, 0 ], [ 8, 0, 6 ], [ 1, 55, 56 ], [ 1, 56, 2 ], [ 2, 56, 54 ], [ 2, 54, 0 ], [ 55, 100, 101 ], [ 55, 101, 56 ], [ 56, 101, 99 ], [ 56, 99, 54 ], [ 100, 97, 98 ], [ 100, 98, 101 ], [ 101, 98, 96 ], [ 101, 96, 99 ], [ 97, 94, 95 ], [ 97, 95, 98 ], [ 98, 95, 93 ], [ 98, 93, 96 ], [ 94, 91, 92 ], [ 94, 92, 95 ], [ 95, 92, 90 ], [ 95, 90, 93 ], [ 91, 88, 89 ], [ 91, 89, 92 ], [ 92, 89, 87 ], [ 92, 87, 90 ], [ 88, 85, 86 ], [ 88, 86, 89 ], [ 89, 86, 84 ], [ 89, 84, 87 ], [ 85, 82, 83 ], [ 85, 83, 86 ], [ 86, 83, 81 ], [ 86, 81, 84 ], [ 82, 79, 80 ], [ 82, 80, 83 ], [ 83, 80, 78 ], [ 83, 78, 81 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/side_table_1777492346889/side_table.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.0, 0.056963, 0.37857, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.3206537, "ixy": 5.229282e-09, "ixz": -3.854795e-09, "iyy": 0.3224873, "iyz": -0.008849827, "izz": 0.187364 }, "collision_meshes": [ "side_table_collision_0.obj", "side_table_collision_1.obj", "side_table_collision_2.obj", "side_table_collision_3.obj", "side_table_collision_4.obj", "side_table_collision_5.obj", "side_table_collision_6.obj", "side_table_collision_7.obj", "side_table_collision_8.obj", "side_table_collision_9.obj", "side_table_collision_10.obj", "side_table_collision_11.obj", "side_table_collision_12.obj", "side_table_collision_13.obj", "side_table_collision_14.obj", "side_table_collision_15.obj", "side_table_collision_16.obj", "side_table_collision_17.obj", "side_table_collision_18.obj", "side_table_collision_19.obj", "side_table_collision_20.obj", "side_table_collision_21.obj", "side_table_collision_22.obj", "side_table_collision_23.obj", "side_table_collision_24.obj", "side_table_collision_25.obj", "side_table_collision_26.obj", "side_table_collision_27.obj", "side_table_collision_28.obj", "side_table_collision_29.obj", "side_table_collision_30.obj", "side_table_collision_31.obj", "side_table_collision_32.obj", "side_table_collision_33.obj", "side_table_collision_34.obj", "side_table_collision_35.obj", "side_table_collision_36.obj", "side_table_collision_37.obj", "side_table_collision_38.obj", "side_table_collision_39.obj", "side_table_collision_40.obj", "side_table_collision_41.obj", "side_table_collision_42.obj", "side_table_collision_43.obj", "side_table_collision_44.obj", "side_table_collision_45.obj", "side_table_collision_46.obj", "side_table_collision_47.obj", "side_table_collision_48.obj", "side_table_collision_49.obj", "side_table_collision_50.obj", "side_table_collision_51.obj", "side_table_collision_52.obj", "side_table_collision_53.obj", "side_table_collision_54.obj", "side_table_collision_55.obj", "side_table_collision_56.obj", "side_table_collision_57.obj", "side_table_collision_58.obj", "side_table_collision_59.obj", "side_table_collision_60.obj", "side_table_collision_61.obj", "side_table_collision_62.obj", "side_table_collision_63.obj", "side_table_collision_64.obj", "side_table_collision_65.obj", "side_table_collision_66.obj", "side_table_collision_67.obj", "side_table_collision_68.obj", "side_table_collision_69.obj", "side_table_collision_70.obj", "side_table_collision_71.obj", "side_table_collision_72.obj", "side_table_collision_73.obj", "side_table_collision_74.obj", "side_table_collision_75.obj", "side_table_collision_76.obj", "side_table_collision_77.obj", "side_table_collision_78.obj", "side_table_collision_79.obj", "side_table_collision_80.obj", "side_table_collision_81.obj", "side_table_collision_82.obj", "side_table_collision_83.obj", "side_table_collision_84.obj", "side_table_collision_85.obj", "side_table_collision_86.obj", "side_table_collision_87.obj", "side_table_collision_88.obj", "side_table_collision_89.obj", "side_table_collision_90.obj", "side_table_collision_91.obj", "side_table_collision_92.obj", "side_table_collision_93.obj", "side_table_collision_94.obj", "side_table_collision_95.obj", "side_table_collision_96.obj", "side_table_collision_97.obj", "side_table_collision_98.obj", "side_table_collision_99.obj", "side_table_collision_100.obj", "side_table_collision_101.obj", "side_table_collision_102.obj", "side_table_collision_103.obj", "side_table_collision_104.obj", "side_table_collision_105.obj", "side_table_collision_106.obj", "side_table_collision_107.obj", "side_table_collision_108.obj", "side_table_collision_109.obj", "side_table_collision_110.obj", "side_table_collision_111.obj", "side_table_collision_112.obj", "side_table_collision_113.obj", "side_table_collision_114.obj", "side_table_collision_115.obj", "side_table_collision_116.obj", "side_table_collision_117.obj", "side_table_collision_118.obj", "side_table_collision_119.obj", "side_table_collision_120.obj", "side_table_collision_121.obj", "side_table_collision_122.obj", "side_table_collision_123.obj", "side_table_collision_124.obj", "side_table_collision_125.obj", "side_table_collision_126.obj", "side_table_collision_127.obj" ], "collision_mesh_info": [ { "uri": "side_table_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "side_table_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "side_table.gltf" ], "visual_mesh_info": [ { "uri": "side_table.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_table_0", "room_id": "living_room", "name": "dining_table", "description": "rectangular wooden dining table", "object_type": "furniture", "transform": { "translation": [ -0.05064810208807385, 1.5627108504736202, -0.0018036737527428312 ], "rotation_wxyz": [ 0.9999329666497921, -9.814529239679394e-06, 1.1357521135942234e-07, -0.01157851936163807 ] }, "bbox_min": [ -0.800000011920929, -0.48000001907348633, 0.0 ], "bbox_max": [ 0.800000011920929, 0.48000001907348633, 0.8800000548362732 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/dining_table_1777494562906/dining_table.glb", "sdf_path": "generated_assets/furniture/sdf/dining_table_1777494562906/dining_table.sdf", "image_path": "generated_assets/furniture/images/dining_table_1777494562906.png", "support_surfaces": [ { "surface_id": "S_0", "bounding_box_min": [ -0.795994758605957, -0.4759947657585144, 0.01 ], "bounding_box_max": [ 0.795994758605957, 0.4759947657585144, 0.5 ], "transform": { "translation": [ -0.05064769766258848, 1.5627283168249213, 0.8881963809120489 ], "rotation_wxyz": [ 0.9999329666497921, -9.814529239679394e-06, 1.1357521135942234e-07, -0.01157851936163807 ] }, "link_name": null, "mesh": { "vertices": [ [ -0.7919999957084656, -0.47200003266334534, -0.010000000000000009 ], [ -0.795994758605957, -0.47200003266334534, -0.010000000000000009 ], [ -0.7919999957084656, -0.4759947657585144, -0.010000000000000009 ], [ -0.795825719833374, -0.4758257269859314, -0.010000000000000009 ], [ -0.7919999957084656, 0.47200003266334534, -0.010000000000000009 ], [ -0.7919999957084656, 0.4759947657585144, -0.010000000000000009 ], [ -0.795994758605957, 0.47200003266334534, -0.010000000000000009 ], [ -0.795825719833374, 0.4758257269859314, -0.010000000000000009 ], [ 0.7919999957084656, -0.47200003266334534, -0.010000000000000009 ], [ 0.7919999957084656, -0.4759947657585144, -0.010000000000000009 ], [ 0.795994758605957, -0.47200003266334534, -0.010000000000000009 ], [ 0.795825719833374, -0.4758257269859314, -0.010000000000000009 ], [ 0.7919999957084656, 0.47200003266334534, -0.010000000000000009 ], [ 0.795994758605957, 0.47200003266334534, -0.010000000000000009 ], [ 0.7919999957084656, 0.4759947657585144, -0.010000000000000009 ], [ 0.795825719833374, 0.4758257269859314, -0.010000000000000009 ] ], "faces": [ [ 12, 8, 10 ], [ 12, 10, 13 ], [ 12, 4, 0 ], [ 12, 0, 8 ], [ 12, 15, 14 ], [ 12, 13, 15 ], [ 8, 9, 11 ], [ 8, 11, 10 ], [ 4, 12, 14 ], [ 4, 14, 5 ], [ 4, 7, 6 ], [ 4, 5, 7 ], [ 8, 0, 2 ], [ 8, 2, 9 ], [ 0, 1, 3 ], [ 0, 3, 2 ], [ 0, 4, 6 ], [ 0, 6, 1 ] ] } } ], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_table_1777494562906/dining_table.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_table_1777494562906/dining_table.sdf", "physics": { "links": { "base_link": { "mass": 24.0, "inertia_pose": [ -0.0, 0.0, 0.783584, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 3.004473, "ixy": -1.262351e-14, "ixz": 9.717726e-08, "iyy": 7.194599, "iyz": -2.377572e-08, "izz": 8.761212 }, "collision_meshes": [ "dining_table_collision_0.obj", "dining_table_collision_1.obj", "dining_table_collision_2.obj", "dining_table_collision_3.obj", "dining_table_collision_4.obj", "dining_table_collision_5.obj", "dining_table_collision_6.obj", "dining_table_collision_7.obj", "dining_table_collision_8.obj", "dining_table_collision_9.obj", "dining_table_collision_10.obj", "dining_table_collision_11.obj", "dining_table_collision_12.obj", "dining_table_collision_13.obj", "dining_table_collision_14.obj", "dining_table_collision_15.obj", "dining_table_collision_16.obj", "dining_table_collision_17.obj", "dining_table_collision_18.obj", "dining_table_collision_19.obj", "dining_table_collision_20.obj", "dining_table_collision_21.obj", "dining_table_collision_22.obj", "dining_table_collision_23.obj", "dining_table_collision_24.obj", "dining_table_collision_25.obj", "dining_table_collision_26.obj", "dining_table_collision_27.obj", "dining_table_collision_28.obj", "dining_table_collision_29.obj", "dining_table_collision_30.obj", "dining_table_collision_31.obj", "dining_table_collision_32.obj", "dining_table_collision_33.obj", "dining_table_collision_34.obj", "dining_table_collision_35.obj", "dining_table_collision_36.obj", "dining_table_collision_37.obj", "dining_table_collision_38.obj", "dining_table_collision_39.obj", "dining_table_collision_40.obj", "dining_table_collision_41.obj", "dining_table_collision_42.obj", "dining_table_collision_43.obj", "dining_table_collision_44.obj", "dining_table_collision_45.obj", "dining_table_collision_46.obj", "dining_table_collision_47.obj", "dining_table_collision_48.obj", "dining_table_collision_49.obj", "dining_table_collision_50.obj", "dining_table_collision_51.obj", "dining_table_collision_52.obj", "dining_table_collision_53.obj", "dining_table_collision_54.obj", "dining_table_collision_55.obj", "dining_table_collision_56.obj", "dining_table_collision_57.obj", "dining_table_collision_58.obj", "dining_table_collision_59.obj", "dining_table_collision_60.obj", "dining_table_collision_61.obj", "dining_table_collision_62.obj", "dining_table_collision_63.obj", "dining_table_collision_64.obj", "dining_table_collision_65.obj", "dining_table_collision_66.obj", "dining_table_collision_67.obj", "dining_table_collision_68.obj", "dining_table_collision_69.obj", "dining_table_collision_70.obj", "dining_table_collision_71.obj", "dining_table_collision_72.obj", "dining_table_collision_73.obj", "dining_table_collision_74.obj", "dining_table_collision_75.obj", "dining_table_collision_76.obj", "dining_table_collision_77.obj", "dining_table_collision_78.obj", "dining_table_collision_79.obj", "dining_table_collision_80.obj", "dining_table_collision_81.obj", "dining_table_collision_82.obj", "dining_table_collision_83.obj", "dining_table_collision_84.obj", "dining_table_collision_85.obj", "dining_table_collision_86.obj", "dining_table_collision_87.obj", "dining_table_collision_88.obj", "dining_table_collision_89.obj", "dining_table_collision_90.obj", "dining_table_collision_91.obj", "dining_table_collision_92.obj", "dining_table_collision_93.obj", "dining_table_collision_94.obj", "dining_table_collision_95.obj", "dining_table_collision_96.obj", "dining_table_collision_97.obj", "dining_table_collision_98.obj", "dining_table_collision_99.obj", "dining_table_collision_100.obj", "dining_table_collision_101.obj", "dining_table_collision_102.obj", "dining_table_collision_103.obj", "dining_table_collision_104.obj", "dining_table_collision_105.obj", "dining_table_collision_106.obj", "dining_table_collision_107.obj", "dining_table_collision_108.obj", "dining_table_collision_109.obj", "dining_table_collision_110.obj", "dining_table_collision_111.obj", "dining_table_collision_112.obj", "dining_table_collision_113.obj", "dining_table_collision_114.obj", "dining_table_collision_115.obj", "dining_table_collision_116.obj", "dining_table_collision_117.obj", "dining_table_collision_118.obj", "dining_table_collision_119.obj", "dining_table_collision_120.obj", "dining_table_collision_121.obj", "dining_table_collision_122.obj", "dining_table_collision_123.obj", "dining_table_collision_124.obj", "dining_table_collision_125.obj", "dining_table_collision_126.obj", "dining_table_collision_127.obj" ], "collision_mesh_info": [ { "uri": "dining_table_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_table_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "dining_table.gltf" ], "visual_mesh_info": [ { "uri": "dining_table.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_chair_0", "room_id": "living_room", "name": "dining_chair", "description": "wooden dining chair with simple warm finish", "object_type": "furniture", "transform": { "translation": [ 0.02600962721694079, 1.950427561244482, -5.6557769782483674e-05 ], "rotation_wxyz": [ 5.398015580405764e-08, -1.3216881361274394e-05, 7.530612902537539e-05, 0.9999999970771491 ] }, "bbox_min": [ -0.24000000953674316, -0.22819799184799194, 1.4714855112174519e-08 ], "bbox_max": [ 0.23999999463558197, 0.302115797996521, 1.0909150838851929 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "image_path": "generated_assets/furniture/images/dining_chair_1777495027997.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.004068, 0.021614, 0.524025, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.4060827, "ixy": 0.0009557138, "ixz": -0.006702089, "iyy": 0.384401, "iyz": 0.09025902, "izz": 0.3023641 }, "collision_meshes": [ "dining_chair_collision_0.obj", "dining_chair_collision_1.obj", "dining_chair_collision_2.obj", "dining_chair_collision_3.obj", "dining_chair_collision_4.obj", "dining_chair_collision_5.obj", "dining_chair_collision_6.obj", "dining_chair_collision_7.obj", "dining_chair_collision_8.obj", "dining_chair_collision_9.obj", "dining_chair_collision_10.obj", "dining_chair_collision_11.obj", "dining_chair_collision_12.obj", "dining_chair_collision_13.obj", "dining_chair_collision_14.obj", "dining_chair_collision_15.obj", "dining_chair_collision_16.obj", "dining_chair_collision_17.obj", "dining_chair_collision_18.obj", "dining_chair_collision_19.obj", "dining_chair_collision_20.obj", "dining_chair_collision_21.obj", "dining_chair_collision_22.obj", "dining_chair_collision_23.obj", "dining_chair_collision_24.obj", "dining_chair_collision_25.obj", "dining_chair_collision_26.obj", "dining_chair_collision_27.obj", "dining_chair_collision_28.obj", "dining_chair_collision_29.obj", "dining_chair_collision_30.obj", "dining_chair_collision_31.obj", "dining_chair_collision_32.obj", "dining_chair_collision_33.obj", "dining_chair_collision_34.obj", "dining_chair_collision_35.obj", "dining_chair_collision_36.obj", "dining_chair_collision_37.obj", "dining_chair_collision_38.obj", "dining_chair_collision_39.obj", "dining_chair_collision_40.obj", "dining_chair_collision_41.obj", "dining_chair_collision_42.obj", "dining_chair_collision_43.obj", "dining_chair_collision_44.obj", "dining_chair_collision_45.obj", "dining_chair_collision_46.obj", "dining_chair_collision_47.obj", "dining_chair_collision_48.obj", "dining_chair_collision_49.obj", "dining_chair_collision_50.obj", "dining_chair_collision_51.obj", "dining_chair_collision_52.obj", "dining_chair_collision_53.obj", "dining_chair_collision_54.obj", "dining_chair_collision_55.obj", "dining_chair_collision_56.obj", "dining_chair_collision_57.obj", "dining_chair_collision_58.obj", "dining_chair_collision_59.obj", "dining_chair_collision_60.obj", "dining_chair_collision_61.obj", "dining_chair_collision_62.obj", "dining_chair_collision_63.obj", "dining_chair_collision_64.obj", "dining_chair_collision_65.obj", "dining_chair_collision_66.obj", "dining_chair_collision_67.obj", "dining_chair_collision_68.obj", "dining_chair_collision_69.obj", "dining_chair_collision_70.obj", "dining_chair_collision_71.obj", "dining_chair_collision_72.obj", "dining_chair_collision_73.obj", "dining_chair_collision_74.obj", "dining_chair_collision_75.obj", "dining_chair_collision_76.obj", "dining_chair_collision_77.obj", "dining_chair_collision_78.obj", "dining_chair_collision_79.obj", "dining_chair_collision_80.obj", "dining_chair_collision_81.obj", "dining_chair_collision_82.obj", "dining_chair_collision_83.obj", "dining_chair_collision_84.obj", "dining_chair_collision_85.obj", "dining_chair_collision_86.obj", "dining_chair_collision_87.obj", "dining_chair_collision_88.obj", "dining_chair_collision_89.obj", "dining_chair_collision_90.obj", "dining_chair_collision_91.obj", "dining_chair_collision_92.obj", "dining_chair_collision_93.obj", "dining_chair_collision_94.obj", "dining_chair_collision_95.obj", "dining_chair_collision_96.obj", "dining_chair_collision_97.obj", "dining_chair_collision_98.obj", "dining_chair_collision_99.obj", "dining_chair_collision_100.obj", "dining_chair_collision_101.obj", "dining_chair_collision_102.obj", "dining_chair_collision_103.obj", "dining_chair_collision_104.obj", "dining_chair_collision_105.obj", "dining_chair_collision_106.obj", "dining_chair_collision_107.obj", "dining_chair_collision_108.obj", "dining_chair_collision_109.obj", "dining_chair_collision_110.obj", "dining_chair_collision_111.obj", "dining_chair_collision_112.obj", "dining_chair_collision_113.obj", "dining_chair_collision_114.obj", "dining_chair_collision_115.obj", "dining_chair_collision_116.obj", "dining_chair_collision_117.obj", "dining_chair_collision_118.obj", "dining_chair_collision_119.obj", "dining_chair_collision_120.obj", "dining_chair_collision_121.obj", "dining_chair_collision_122.obj", "dining_chair_collision_123.obj", "dining_chair_collision_124.obj", "dining_chair_collision_125.obj", "dining_chair_collision_126.obj", "dining_chair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "dining_chair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "dining_chair.gltf" ], "visual_mesh_info": [ { "uri": "dining_chair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_chair_1", "room_id": "living_room", "name": "dining_chair", "description": "wooden dining chair with simple warm finish", "object_type": "furniture", "transform": { "translation": [ 0.005084068981649746, 1.1817378380558672, -5.6557769782483674e-05 ], "rotation_wxyz": [ 0.9999999970771443, 7.530612981036173e-05, 1.3216876888639036e-05, -1.1337287028417933e-07 ] }, "bbox_min": [ -0.24000000953674316, -0.22819799184799194, 1.4714855112174519e-08 ], "bbox_max": [ 0.23999999463558197, 0.302115797996521, 1.0909150838851929 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "image_path": "generated_assets/furniture/images/dining_chair_1777495027997.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.004068, 0.021614, 0.524025, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.4060827, "ixy": 0.0009557138, "ixz": -0.006702089, "iyy": 0.384401, "iyz": 0.09025902, "izz": 0.3023641 }, "collision_meshes": [ "dining_chair_collision_0.obj", "dining_chair_collision_1.obj", "dining_chair_collision_2.obj", "dining_chair_collision_3.obj", "dining_chair_collision_4.obj", "dining_chair_collision_5.obj", "dining_chair_collision_6.obj", "dining_chair_collision_7.obj", "dining_chair_collision_8.obj", "dining_chair_collision_9.obj", "dining_chair_collision_10.obj", "dining_chair_collision_11.obj", "dining_chair_collision_12.obj", "dining_chair_collision_13.obj", "dining_chair_collision_14.obj", "dining_chair_collision_15.obj", "dining_chair_collision_16.obj", "dining_chair_collision_17.obj", "dining_chair_collision_18.obj", "dining_chair_collision_19.obj", "dining_chair_collision_20.obj", "dining_chair_collision_21.obj", "dining_chair_collision_22.obj", "dining_chair_collision_23.obj", "dining_chair_collision_24.obj", "dining_chair_collision_25.obj", "dining_chair_collision_26.obj", "dining_chair_collision_27.obj", "dining_chair_collision_28.obj", "dining_chair_collision_29.obj", "dining_chair_collision_30.obj", "dining_chair_collision_31.obj", "dining_chair_collision_32.obj", "dining_chair_collision_33.obj", "dining_chair_collision_34.obj", "dining_chair_collision_35.obj", "dining_chair_collision_36.obj", "dining_chair_collision_37.obj", "dining_chair_collision_38.obj", "dining_chair_collision_39.obj", "dining_chair_collision_40.obj", "dining_chair_collision_41.obj", "dining_chair_collision_42.obj", "dining_chair_collision_43.obj", "dining_chair_collision_44.obj", "dining_chair_collision_45.obj", "dining_chair_collision_46.obj", "dining_chair_collision_47.obj", "dining_chair_collision_48.obj", "dining_chair_collision_49.obj", "dining_chair_collision_50.obj", "dining_chair_collision_51.obj", "dining_chair_collision_52.obj", "dining_chair_collision_53.obj", "dining_chair_collision_54.obj", "dining_chair_collision_55.obj", "dining_chair_collision_56.obj", "dining_chair_collision_57.obj", "dining_chair_collision_58.obj", "dining_chair_collision_59.obj", "dining_chair_collision_60.obj", "dining_chair_collision_61.obj", "dining_chair_collision_62.obj", "dining_chair_collision_63.obj", "dining_chair_collision_64.obj", "dining_chair_collision_65.obj", "dining_chair_collision_66.obj", "dining_chair_collision_67.obj", "dining_chair_collision_68.obj", "dining_chair_collision_69.obj", "dining_chair_collision_70.obj", "dining_chair_collision_71.obj", "dining_chair_collision_72.obj", "dining_chair_collision_73.obj", "dining_chair_collision_74.obj", "dining_chair_collision_75.obj", "dining_chair_collision_76.obj", "dining_chair_collision_77.obj", "dining_chair_collision_78.obj", "dining_chair_collision_79.obj", "dining_chair_collision_80.obj", "dining_chair_collision_81.obj", "dining_chair_collision_82.obj", "dining_chair_collision_83.obj", "dining_chair_collision_84.obj", "dining_chair_collision_85.obj", "dining_chair_collision_86.obj", "dining_chair_collision_87.obj", "dining_chair_collision_88.obj", "dining_chair_collision_89.obj", "dining_chair_collision_90.obj", "dining_chair_collision_91.obj", "dining_chair_collision_92.obj", "dining_chair_collision_93.obj", "dining_chair_collision_94.obj", "dining_chair_collision_95.obj", "dining_chair_collision_96.obj", "dining_chair_collision_97.obj", "dining_chair_collision_98.obj", "dining_chair_collision_99.obj", "dining_chair_collision_100.obj", "dining_chair_collision_101.obj", "dining_chair_collision_102.obj", "dining_chair_collision_103.obj", "dining_chair_collision_104.obj", "dining_chair_collision_105.obj", "dining_chair_collision_106.obj", "dining_chair_collision_107.obj", "dining_chair_collision_108.obj", "dining_chair_collision_109.obj", "dining_chair_collision_110.obj", "dining_chair_collision_111.obj", "dining_chair_collision_112.obj", "dining_chair_collision_113.obj", "dining_chair_collision_114.obj", "dining_chair_collision_115.obj", "dining_chair_collision_116.obj", "dining_chair_collision_117.obj", "dining_chair_collision_118.obj", "dining_chair_collision_119.obj", "dining_chair_collision_120.obj", "dining_chair_collision_121.obj", "dining_chair_collision_122.obj", "dining_chair_collision_123.obj", "dining_chair_collision_124.obj", "dining_chair_collision_125.obj", "dining_chair_collision_126.obj", "dining_chair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "dining_chair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "dining_chair.gltf" ], "visual_mesh_info": [ { "uri": "dining_chair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_chair_2", "room_id": "living_room", "name": "dining_chair", "description": "wooden dining chair with simple warm finish", "object_type": "furniture", "transform": { "translation": [ -0.7527958471687627, 1.5452211277997667, -5.655776978248366e-05 ], "rotation_wxyz": [ 0.7071067667750564, 6.259522253890277e-05, -4.3903725775949013e-05, -0.7071067914645048 ] }, "bbox_min": [ -0.24000000953674316, -0.22819799184799194, 1.4714855112174519e-08 ], "bbox_max": [ 0.23999999463558197, 0.302115797996521, 1.0909150838851929 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "image_path": "generated_assets/furniture/images/dining_chair_1777495027997.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.004068, 0.021614, 0.524025, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.4060827, "ixy": 0.0009557138, "ixz": -0.006702089, "iyy": 0.384401, "iyz": 0.09025902, "izz": 0.3023641 }, "collision_meshes": [ "dining_chair_collision_0.obj", "dining_chair_collision_1.obj", "dining_chair_collision_2.obj", "dining_chair_collision_3.obj", "dining_chair_collision_4.obj", "dining_chair_collision_5.obj", "dining_chair_collision_6.obj", "dining_chair_collision_7.obj", "dining_chair_collision_8.obj", "dining_chair_collision_9.obj", "dining_chair_collision_10.obj", "dining_chair_collision_11.obj", "dining_chair_collision_12.obj", "dining_chair_collision_13.obj", "dining_chair_collision_14.obj", "dining_chair_collision_15.obj", "dining_chair_collision_16.obj", "dining_chair_collision_17.obj", "dining_chair_collision_18.obj", "dining_chair_collision_19.obj", "dining_chair_collision_20.obj", "dining_chair_collision_21.obj", "dining_chair_collision_22.obj", "dining_chair_collision_23.obj", "dining_chair_collision_24.obj", "dining_chair_collision_25.obj", "dining_chair_collision_26.obj", "dining_chair_collision_27.obj", "dining_chair_collision_28.obj", "dining_chair_collision_29.obj", "dining_chair_collision_30.obj", "dining_chair_collision_31.obj", "dining_chair_collision_32.obj", "dining_chair_collision_33.obj", "dining_chair_collision_34.obj", "dining_chair_collision_35.obj", "dining_chair_collision_36.obj", "dining_chair_collision_37.obj", "dining_chair_collision_38.obj", "dining_chair_collision_39.obj", "dining_chair_collision_40.obj", "dining_chair_collision_41.obj", "dining_chair_collision_42.obj", "dining_chair_collision_43.obj", "dining_chair_collision_44.obj", "dining_chair_collision_45.obj", "dining_chair_collision_46.obj", "dining_chair_collision_47.obj", "dining_chair_collision_48.obj", "dining_chair_collision_49.obj", "dining_chair_collision_50.obj", "dining_chair_collision_51.obj", "dining_chair_collision_52.obj", "dining_chair_collision_53.obj", "dining_chair_collision_54.obj", "dining_chair_collision_55.obj", "dining_chair_collision_56.obj", "dining_chair_collision_57.obj", "dining_chair_collision_58.obj", "dining_chair_collision_59.obj", "dining_chair_collision_60.obj", "dining_chair_collision_61.obj", "dining_chair_collision_62.obj", "dining_chair_collision_63.obj", "dining_chair_collision_64.obj", "dining_chair_collision_65.obj", "dining_chair_collision_66.obj", "dining_chair_collision_67.obj", "dining_chair_collision_68.obj", "dining_chair_collision_69.obj", "dining_chair_collision_70.obj", "dining_chair_collision_71.obj", "dining_chair_collision_72.obj", "dining_chair_collision_73.obj", "dining_chair_collision_74.obj", "dining_chair_collision_75.obj", "dining_chair_collision_76.obj", "dining_chair_collision_77.obj", "dining_chair_collision_78.obj", "dining_chair_collision_79.obj", "dining_chair_collision_80.obj", "dining_chair_collision_81.obj", "dining_chair_collision_82.obj", "dining_chair_collision_83.obj", "dining_chair_collision_84.obj", "dining_chair_collision_85.obj", "dining_chair_collision_86.obj", "dining_chair_collision_87.obj", "dining_chair_collision_88.obj", "dining_chair_collision_89.obj", "dining_chair_collision_90.obj", "dining_chair_collision_91.obj", "dining_chair_collision_92.obj", "dining_chair_collision_93.obj", "dining_chair_collision_94.obj", "dining_chair_collision_95.obj", "dining_chair_collision_96.obj", "dining_chair_collision_97.obj", "dining_chair_collision_98.obj", "dining_chair_collision_99.obj", "dining_chair_collision_100.obj", "dining_chair_collision_101.obj", "dining_chair_collision_102.obj", "dining_chair_collision_103.obj", "dining_chair_collision_104.obj", "dining_chair_collision_105.obj", "dining_chair_collision_106.obj", "dining_chair_collision_107.obj", "dining_chair_collision_108.obj", "dining_chair_collision_109.obj", "dining_chair_collision_110.obj", "dining_chair_collision_111.obj", "dining_chair_collision_112.obj", "dining_chair_collision_113.obj", "dining_chair_collision_114.obj", "dining_chair_collision_115.obj", "dining_chair_collision_116.obj", "dining_chair_collision_117.obj", "dining_chair_collision_118.obj", "dining_chair_collision_119.obj", "dining_chair_collision_120.obj", "dining_chair_collision_121.obj", "dining_chair_collision_122.obj", "dining_chair_collision_123.obj", "dining_chair_collision_124.obj", "dining_chair_collision_125.obj", "dining_chair_collision_126.obj", "dining_chair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "dining_chair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "dining_chair.gltf" ], "visual_mesh_info": [ { "uri": "dining_chair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_chair_3", "room_id": "living_room", "name": "dining_chair", "description": "wooden dining chair with simple warm finish", "object_type": "furniture", "transform": { "translation": [ 0.6562109280293991, 1.5063415998600775, -5.655776978248366e-05 ], "rotation_wxyz": [ 0.707106892893797, 4.39037347547759e-05, 6.259521624123342e-05, 0.7071066653457464 ] }, "bbox_min": [ -0.24000000953674316, -0.22819799184799194, 1.4714855112174519e-08 ], "bbox_max": [ 0.23999999463558197, 0.302115797996521, 1.0909150838851929 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "image_path": "generated_assets/furniture/images/dining_chair_1777495027997.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.glb", "sdf_path_resolved": "room_living_room/generated_assets/furniture/sdf/dining_chair_1777495027997/dining_chair.sdf", "physics": { "links": { "base_link": { "mass": 5.8, "inertia_pose": [ -0.004068, 0.021614, 0.524025, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.4060827, "ixy": 0.0009557138, "ixz": -0.006702089, "iyy": 0.384401, "iyz": 0.09025902, "izz": 0.3023641 }, "collision_meshes": [ "dining_chair_collision_0.obj", "dining_chair_collision_1.obj", "dining_chair_collision_2.obj", "dining_chair_collision_3.obj", "dining_chair_collision_4.obj", "dining_chair_collision_5.obj", "dining_chair_collision_6.obj", "dining_chair_collision_7.obj", "dining_chair_collision_8.obj", "dining_chair_collision_9.obj", "dining_chair_collision_10.obj", "dining_chair_collision_11.obj", "dining_chair_collision_12.obj", "dining_chair_collision_13.obj", "dining_chair_collision_14.obj", "dining_chair_collision_15.obj", "dining_chair_collision_16.obj", "dining_chair_collision_17.obj", "dining_chair_collision_18.obj", "dining_chair_collision_19.obj", "dining_chair_collision_20.obj", "dining_chair_collision_21.obj", "dining_chair_collision_22.obj", "dining_chair_collision_23.obj", "dining_chair_collision_24.obj", "dining_chair_collision_25.obj", "dining_chair_collision_26.obj", "dining_chair_collision_27.obj", "dining_chair_collision_28.obj", "dining_chair_collision_29.obj", "dining_chair_collision_30.obj", "dining_chair_collision_31.obj", "dining_chair_collision_32.obj", "dining_chair_collision_33.obj", "dining_chair_collision_34.obj", "dining_chair_collision_35.obj", "dining_chair_collision_36.obj", "dining_chair_collision_37.obj", "dining_chair_collision_38.obj", "dining_chair_collision_39.obj", "dining_chair_collision_40.obj", "dining_chair_collision_41.obj", "dining_chair_collision_42.obj", "dining_chair_collision_43.obj", "dining_chair_collision_44.obj", "dining_chair_collision_45.obj", "dining_chair_collision_46.obj", "dining_chair_collision_47.obj", "dining_chair_collision_48.obj", "dining_chair_collision_49.obj", "dining_chair_collision_50.obj", "dining_chair_collision_51.obj", "dining_chair_collision_52.obj", "dining_chair_collision_53.obj", "dining_chair_collision_54.obj", "dining_chair_collision_55.obj", "dining_chair_collision_56.obj", "dining_chair_collision_57.obj", "dining_chair_collision_58.obj", "dining_chair_collision_59.obj", "dining_chair_collision_60.obj", "dining_chair_collision_61.obj", "dining_chair_collision_62.obj", "dining_chair_collision_63.obj", "dining_chair_collision_64.obj", "dining_chair_collision_65.obj", "dining_chair_collision_66.obj", "dining_chair_collision_67.obj", "dining_chair_collision_68.obj", "dining_chair_collision_69.obj", "dining_chair_collision_70.obj", "dining_chair_collision_71.obj", "dining_chair_collision_72.obj", "dining_chair_collision_73.obj", "dining_chair_collision_74.obj", "dining_chair_collision_75.obj", "dining_chair_collision_76.obj", "dining_chair_collision_77.obj", "dining_chair_collision_78.obj", "dining_chair_collision_79.obj", "dining_chair_collision_80.obj", "dining_chair_collision_81.obj", "dining_chair_collision_82.obj", "dining_chair_collision_83.obj", "dining_chair_collision_84.obj", "dining_chair_collision_85.obj", "dining_chair_collision_86.obj", "dining_chair_collision_87.obj", "dining_chair_collision_88.obj", "dining_chair_collision_89.obj", "dining_chair_collision_90.obj", "dining_chair_collision_91.obj", "dining_chair_collision_92.obj", "dining_chair_collision_93.obj", "dining_chair_collision_94.obj", "dining_chair_collision_95.obj", "dining_chair_collision_96.obj", "dining_chair_collision_97.obj", "dining_chair_collision_98.obj", "dining_chair_collision_99.obj", "dining_chair_collision_100.obj", "dining_chair_collision_101.obj", "dining_chair_collision_102.obj", "dining_chair_collision_103.obj", "dining_chair_collision_104.obj", "dining_chair_collision_105.obj", "dining_chair_collision_106.obj", "dining_chair_collision_107.obj", "dining_chair_collision_108.obj", "dining_chair_collision_109.obj", "dining_chair_collision_110.obj", "dining_chair_collision_111.obj", "dining_chair_collision_112.obj", "dining_chair_collision_113.obj", "dining_chair_collision_114.obj", "dining_chair_collision_115.obj", "dining_chair_collision_116.obj", "dining_chair_collision_117.obj", "dining_chair_collision_118.obj", "dining_chair_collision_119.obj", "dining_chair_collision_120.obj", "dining_chair_collision_121.obj", "dining_chair_collision_122.obj", "dining_chair_collision_123.obj", "dining_chair_collision_124.obj", "dining_chair_collision_125.obj", "dining_chair_collision_126.obj", "dining_chair_collision_127.obj" ], "collision_mesh_info": [ { "uri": "dining_chair_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_64.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_65.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_66.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_67.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_68.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_69.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_70.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_71.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_72.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_73.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_74.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_75.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_76.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_77.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_78.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_79.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_80.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_81.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_82.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_83.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_84.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_85.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_86.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_87.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_88.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_89.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_90.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_91.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_92.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_93.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_94.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_95.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_96.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_97.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_98.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_99.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_100.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_101.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_102.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_103.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_104.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_105.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_106.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_107.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_108.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_109.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_110.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_111.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_112.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_113.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_114.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_115.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_116.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_117.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_118.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_119.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_120.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_121.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_122.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_123.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_124.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_125.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_126.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_chair_collision_127.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "dining_chair.gltf" ], "visual_mesh_info": [ { "uri": "dining_chair.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "painting_0", "room_id": "living_room", "name": "painting", "description": "framed vertical abstract painting with beige, brown, and charcoal blocks approximately 55cm wide", "object_type": "wall_mounted", "transform": { "translation": [ 1.0, -2.75, 1.44 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, -6.123233995736766e-17 ] }, "bbox_min": [ -0.2750000059604645, -2.3913043989409744e-08, -0.36666667461395264 ], "bbox_max": [ 0.2750000059604645, 0.036666691303253174, 0.36666667461395264 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "image_path": "generated_assets/wall_mounted/images/painting_1777498890727.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_south", "position_2d": [ 2.4, 1.44 ], "rotation_2d": 0.0, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ -0.0, 0.015101, 0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.08289996, "ixy": -4.07981e-09, "ixz": -1.376649e-12, "iyy": 0.1297882, "iyz": -4.441477e-11, "izz": 0.04707828 }, "collision_meshes": [ "painting_collision_0.obj", "painting_collision_1.obj", "painting_collision_2.obj", "painting_collision_3.obj", "painting_collision_4.obj", "painting_collision_5.obj", "painting_collision_6.obj", "painting_collision_7.obj", "painting_collision_8.obj", "painting_collision_9.obj", "painting_collision_10.obj", "painting_collision_11.obj", "painting_collision_12.obj", "painting_collision_13.obj", "painting_collision_14.obj", "painting_collision_15.obj", "painting_collision_16.obj", "painting_collision_17.obj", "painting_collision_18.obj", "painting_collision_19.obj", "painting_collision_20.obj", "painting_collision_21.obj", "painting_collision_22.obj", "painting_collision_23.obj", "painting_collision_24.obj", "painting_collision_25.obj", "painting_collision_26.obj", "painting_collision_27.obj", "painting_collision_28.obj", "painting_collision_29.obj", "painting_collision_30.obj", "painting_collision_31.obj", "painting_collision_32.obj", "painting_collision_33.obj", "painting_collision_34.obj", "painting_collision_35.obj", "painting_collision_36.obj", "painting_collision_37.obj", "painting_collision_38.obj", "painting_collision_39.obj", "painting_collision_40.obj", "painting_collision_41.obj", "painting_collision_42.obj", "painting_collision_43.obj", "painting_collision_44.obj", "painting_collision_45.obj", "painting_collision_46.obj", "painting_collision_47.obj", "painting_collision_48.obj", "painting_collision_49.obj", "painting_collision_50.obj", "painting_collision_51.obj", "painting_collision_52.obj", "painting_collision_53.obj", "painting_collision_54.obj", "painting_collision_55.obj", "painting_collision_56.obj", "painting_collision_57.obj", "painting_collision_58.obj", "painting_collision_59.obj", "painting_collision_60.obj", "painting_collision_61.obj", "painting_collision_62.obj", "painting_collision_63.obj" ], "collision_mesh_info": [ { "uri": "painting_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_63.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": "painting_1", "room_id": "living_room", "name": "painting", "description": "framed vertical abstract painting with beige, brown, and charcoal blocks approximately 55cm wide", "object_type": "wall_mounted", "transform": { "translation": [ -0.007515128078391609, -2.75, 1.4551897018528661 ], "rotation_wxyz": [ 0.999989018353981, 2.869646373153316e-19, -0.004686488177899579, -6.123166752548534e-17 ] }, "bbox_min": [ -0.2750000059604645, -2.3913043989409744e-08, -0.36666667461395264 ], "bbox_max": [ 0.2750000059604645, 0.036666691303253174, 0.36666667461395264 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "image_path": "generated_assets/wall_mounted/images/painting_1777498890727.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_south", "position_2d": [ 3.4075151280783915, 1.4551897018528661 ], "rotation_2d": -0.009373010666186034, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ -0.0, 0.015101, 0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.08289996, "ixy": -4.07981e-09, "ixz": -1.376649e-12, "iyy": 0.1297882, "iyz": -4.441477e-11, "izz": 0.04707828 }, "collision_meshes": [ "painting_collision_0.obj", "painting_collision_1.obj", "painting_collision_2.obj", "painting_collision_3.obj", "painting_collision_4.obj", "painting_collision_5.obj", "painting_collision_6.obj", "painting_collision_7.obj", "painting_collision_8.obj", "painting_collision_9.obj", "painting_collision_10.obj", "painting_collision_11.obj", "painting_collision_12.obj", "painting_collision_13.obj", "painting_collision_14.obj", "painting_collision_15.obj", "painting_collision_16.obj", "painting_collision_17.obj", "painting_collision_18.obj", "painting_collision_19.obj", "painting_collision_20.obj", "painting_collision_21.obj", "painting_collision_22.obj", "painting_collision_23.obj", "painting_collision_24.obj", "painting_collision_25.obj", "painting_collision_26.obj", "painting_collision_27.obj", "painting_collision_28.obj", "painting_collision_29.obj", "painting_collision_30.obj", "painting_collision_31.obj", "painting_collision_32.obj", "painting_collision_33.obj", "painting_collision_34.obj", "painting_collision_35.obj", "painting_collision_36.obj", "painting_collision_37.obj", "painting_collision_38.obj", "painting_collision_39.obj", "painting_collision_40.obj", "painting_collision_41.obj", "painting_collision_42.obj", "painting_collision_43.obj", "painting_collision_44.obj", "painting_collision_45.obj", "painting_collision_46.obj", "painting_collision_47.obj", "painting_collision_48.obj", "painting_collision_49.obj", "painting_collision_50.obj", "painting_collision_51.obj", "painting_collision_52.obj", "painting_collision_53.obj", "painting_collision_54.obj", "painting_collision_55.obj", "painting_collision_56.obj", "painting_collision_57.obj", "painting_collision_58.obj", "painting_collision_59.obj", "painting_collision_60.obj", "painting_collision_61.obj", "painting_collision_62.obj", "painting_collision_63.obj" ], "collision_mesh_info": [ { "uri": "painting_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_63.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": "painting_2", "room_id": "living_room", "name": "painting", "description": "framed vertical abstract painting with beige, brown, and charcoal blocks approximately 55cm wide", "object_type": "wall_mounted", "transform": { "translation": [ -1.02, -2.75, 1.46 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, -6.123233995736766e-17 ] }, "bbox_min": [ -0.2750000059604645, -2.3913043989409744e-08, -0.36666667461395264 ], "bbox_max": [ 0.2750000059604645, 0.036666691303253174, 0.36666667461395264 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path": "generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "image_path": "generated_assets/wall_mounted/images/painting_1777498890727.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_south", "position_2d": [ 4.42, 1.46 ], "rotation_2d": 0.0, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/painting_1777498890727/painting.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ -0.0, 0.015101, 0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.08289996, "ixy": -4.07981e-09, "ixz": -1.376649e-12, "iyy": 0.1297882, "iyz": -4.441477e-11, "izz": 0.04707828 }, "collision_meshes": [ "painting_collision_0.obj", "painting_collision_1.obj", "painting_collision_2.obj", "painting_collision_3.obj", "painting_collision_4.obj", "painting_collision_5.obj", "painting_collision_6.obj", "painting_collision_7.obj", "painting_collision_8.obj", "painting_collision_9.obj", "painting_collision_10.obj", "painting_collision_11.obj", "painting_collision_12.obj", "painting_collision_13.obj", "painting_collision_14.obj", "painting_collision_15.obj", "painting_collision_16.obj", "painting_collision_17.obj", "painting_collision_18.obj", "painting_collision_19.obj", "painting_collision_20.obj", "painting_collision_21.obj", "painting_collision_22.obj", "painting_collision_23.obj", "painting_collision_24.obj", "painting_collision_25.obj", "painting_collision_26.obj", "painting_collision_27.obj", "painting_collision_28.obj", "painting_collision_29.obj", "painting_collision_30.obj", "painting_collision_31.obj", "painting_collision_32.obj", "painting_collision_33.obj", "painting_collision_34.obj", "painting_collision_35.obj", "painting_collision_36.obj", "painting_collision_37.obj", "painting_collision_38.obj", "painting_collision_39.obj", "painting_collision_40.obj", "painting_collision_41.obj", "painting_collision_42.obj", "painting_collision_43.obj", "painting_collision_44.obj", "painting_collision_45.obj", "painting_collision_46.obj", "painting_collision_47.obj", "painting_collision_48.obj", "painting_collision_49.obj", "painting_collision_50.obj", "painting_collision_51.obj", "painting_collision_52.obj", "painting_collision_53.obj", "painting_collision_54.obj", "painting_collision_55.obj", "painting_collision_56.obj", "painting_collision_57.obj", "painting_collision_58.obj", "painting_collision_59.obj", "painting_collision_60.obj", "painting_collision_61.obj", "painting_collision_62.obj", "painting_collision_63.obj" ], "collision_mesh_info": [ { "uri": "painting_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "painting_collision_63.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": "art_print_0", "room_id": "living_room", "name": "art_print", "description": "framed landscape art print in muted beige and charcoal tones", "object_type": "wall_mounted", "transform": { "translation": [ 3.35, 1.593705462170658, 1.4476168603845805 ], "rotation_wxyz": [ 0.7071066941648634, -0.00035080940495494625, 0.0003508094049549462, 0.7071066941648632 ] }, "bbox_min": [ -0.3499999940395355, -3.045398244694297e-08, -0.4117647111415863 ], "bbox_max": [ 0.3499999940395355, 0.03294120728969574, 0.4117647111415863 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.glb", "sdf_path": "generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.sdf", "image_path": "generated_assets/wall_mounted/images/art_print_1777498169811.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_east", "position_2d": [ 1.206294537829342, 1.4476168603845805 ], "rotation_2d": 0.000992238877294676, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.sdf", "physics": { "links": { "base_link": { "mass": 1.4, "inertia_pose": [ 0.0, 0.021537, -0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.09990544, "ixy": -6.589626e-09, "ixz": -3.516746e-13, "iyy": 0.1750605, "iyz": -2.724592e-11, "izz": 0.075326 }, "collision_meshes": [ "art_print_collision_0.obj", "art_print_collision_1.obj", "art_print_collision_2.obj", "art_print_collision_3.obj", "art_print_collision_4.obj", "art_print_collision_5.obj", "art_print_collision_6.obj", "art_print_collision_7.obj", "art_print_collision_8.obj", "art_print_collision_9.obj", "art_print_collision_10.obj", "art_print_collision_11.obj", "art_print_collision_12.obj", "art_print_collision_13.obj", "art_print_collision_14.obj", "art_print_collision_15.obj", "art_print_collision_16.obj", "art_print_collision_17.obj", "art_print_collision_18.obj", "art_print_collision_19.obj", "art_print_collision_20.obj", "art_print_collision_21.obj", "art_print_collision_22.obj", "art_print_collision_23.obj", "art_print_collision_24.obj", "art_print_collision_25.obj", "art_print_collision_26.obj", "art_print_collision_27.obj", "art_print_collision_28.obj", "art_print_collision_29.obj", "art_print_collision_30.obj", "art_print_collision_31.obj", "art_print_collision_32.obj", "art_print_collision_33.obj", "art_print_collision_34.obj", "art_print_collision_35.obj", "art_print_collision_36.obj", "art_print_collision_37.obj", "art_print_collision_38.obj", "art_print_collision_39.obj", "art_print_collision_40.obj", "art_print_collision_41.obj", "art_print_collision_42.obj", "art_print_collision_43.obj", "art_print_collision_44.obj", "art_print_collision_45.obj", "art_print_collision_46.obj", "art_print_collision_47.obj", "art_print_collision_48.obj", "art_print_collision_49.obj", "art_print_collision_50.obj", "art_print_collision_51.obj", "art_print_collision_52.obj", "art_print_collision_53.obj", "art_print_collision_54.obj", "art_print_collision_55.obj", "art_print_collision_56.obj", "art_print_collision_57.obj", "art_print_collision_58.obj", "art_print_collision_59.obj", "art_print_collision_60.obj", "art_print_collision_61.obj", "art_print_collision_62.obj", "art_print_collision_63.obj" ], "collision_mesh_info": [ { "uri": "art_print_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "art_print.gltf" ], "visual_mesh_info": [ { "uri": "art_print.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "art_print_1", "room_id": "living_room", "name": "art_print", "description": "framed landscape art print in muted beige and charcoal tones", "object_type": "wall_mounted", "transform": { "translation": [ -3.35, 0.48647590114494443, 1.451995652022266 ], "rotation_wxyz": [ 0.707105416545702, 0.0013892054309730577, 0.0013892054309730584, -0.7071054165457018 ] }, "bbox_min": [ -0.3499999940395355, -3.045398244694297e-08, -0.4117647111415863 ], "bbox_max": [ 0.3499999940395355, 0.03294120728969574, 0.4117647111415863 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.glb", "sdf_path": "generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.sdf", "image_path": "generated_assets/wall_mounted/images/art_print_1777498169811.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_west", "position_2d": [ 3.2864759011449443, 1.451995652022266 ], "rotation_2d": 0.003929268850499501, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/art_print_1777498169811/art_print.sdf", "physics": { "links": { "base_link": { "mass": 1.4, "inertia_pose": [ 0.0, 0.021537, -0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.09990544, "ixy": -6.589626e-09, "ixz": -3.516746e-13, "iyy": 0.1750605, "iyz": -2.724592e-11, "izz": 0.075326 }, "collision_meshes": [ "art_print_collision_0.obj", "art_print_collision_1.obj", "art_print_collision_2.obj", "art_print_collision_3.obj", "art_print_collision_4.obj", "art_print_collision_5.obj", "art_print_collision_6.obj", "art_print_collision_7.obj", "art_print_collision_8.obj", "art_print_collision_9.obj", "art_print_collision_10.obj", "art_print_collision_11.obj", "art_print_collision_12.obj", "art_print_collision_13.obj", "art_print_collision_14.obj", "art_print_collision_15.obj", "art_print_collision_16.obj", "art_print_collision_17.obj", "art_print_collision_18.obj", "art_print_collision_19.obj", "art_print_collision_20.obj", "art_print_collision_21.obj", "art_print_collision_22.obj", "art_print_collision_23.obj", "art_print_collision_24.obj", "art_print_collision_25.obj", "art_print_collision_26.obj", "art_print_collision_27.obj", "art_print_collision_28.obj", "art_print_collision_29.obj", "art_print_collision_30.obj", "art_print_collision_31.obj", "art_print_collision_32.obj", "art_print_collision_33.obj", "art_print_collision_34.obj", "art_print_collision_35.obj", "art_print_collision_36.obj", "art_print_collision_37.obj", "art_print_collision_38.obj", "art_print_collision_39.obj", "art_print_collision_40.obj", "art_print_collision_41.obj", "art_print_collision_42.obj", "art_print_collision_43.obj", "art_print_collision_44.obj", "art_print_collision_45.obj", "art_print_collision_46.obj", "art_print_collision_47.obj", "art_print_collision_48.obj", "art_print_collision_49.obj", "art_print_collision_50.obj", "art_print_collision_51.obj", "art_print_collision_52.obj", "art_print_collision_53.obj", "art_print_collision_54.obj", "art_print_collision_55.obj", "art_print_collision_56.obj", "art_print_collision_57.obj", "art_print_collision_58.obj", "art_print_collision_59.obj", "art_print_collision_60.obj", "art_print_collision_61.obj", "art_print_collision_62.obj", "art_print_collision_63.obj" ], "collision_mesh_info": [ { "uri": "art_print_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "art_print_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "art_print.gltf" ], "visual_mesh_info": [ { "uri": "art_print.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "print_0", "room_id": "living_room", "name": "print", "description": "narrow framed vertical abstract print in warm beige and charcoal approximately 42cm wide", "object_type": "wall_mounted", "transform": { "translation": [ 0.25529283625287924, 2.75, 1.4585978129109727 ], "rotation_wxyz": [ 6.123227855975623e-17, -0.0014161204646950328, -8.671236971479172e-20, 0.999998997300912 ] }, "bbox_min": [ -0.2414999924600124, -2.098267559702549e-08, -0.37153847366571424 ], "bbox_max": [ 0.2414999924600124, 0.029723097942769526, 0.37153847366571424 ], "scale_factor": 1.15, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/wall_mounted/sdf/print_1777499468764/print.glb", "sdf_path": "generated_assets/wall_mounted/sdf/print_1777499468764/print.sdf", "image_path": "generated_assets/wall_mounted/images/print_1777499468764.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "living_room_north", "position_2d": [ 3.655292836252879, 1.4585978129109727 ], "rotation_2d": 0.0028322418760189107, "placement_method": "wall_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/print_1777499468764/print.glb", "sdf_path_resolved": "room_living_room/generated_assets/wall_mounted/sdf/print_1777499468764/print.sdf", "physics": { "links": { "base_link": { "mass": 0.6, "inertia_pose": [ -0.0, 0.0140415, -0.0, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.02958981, "ixy": -1.123858e-09, "ixz": -6.769679e-14, "iyy": 0.04251822, "iyz": 3.188615e-11, "izz": 0.01300971 }, "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": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_1.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_2.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_3.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_4.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_5.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_6.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_7.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_8.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_9.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_10.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_11.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_12.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_13.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_14.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_15.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_16.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_17.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_18.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_19.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_20.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_21.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_22.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_23.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_24.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_25.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_26.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_27.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_28.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_29.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_30.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_31.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_32.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_33.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_34.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_35.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_36.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_37.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_38.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_39.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_40.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_41.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_42.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_43.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_44.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_45.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_46.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_47.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_48.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_49.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_50.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_51.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_52.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_53.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_54.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_55.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_56.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_57.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_58.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_59.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_60.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_61.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_62.obj", "scale": [ 1.15, 1.15, 1.15 ] }, { "uri": "print_collision_63.obj", "scale": [ 1.15, 1.15, 1.15 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "print.gltf" ], "visual_mesh_info": [ { "uri": "print.gltf", "scale": [ 1.15, 1.15, 1.15 ] } ] } } }, "visual_scale": [ 1.15, 1.15, 1.15 ] }, { "object_id": "pendant_light_0", "room_id": "living_room", "name": "pendant_light", "description": "Warm modern drum pendant light with soft fabric shade for a dining table", "object_type": "ceiling_mounted", "transform": { "translation": [ -0.009606568431684274, 1.389185050063599, 2.5 ], "rotation_wxyz": [ 0.9999968739139518, 0.0, 0.0, 0.0025004324274963477 ] }, "bbox_min": [ -0.35999998450279236, -0.35999998450279236, -0.8999999761581421 ], "bbox_max": [ 0.35999998450279236, 0.35999998450279236, -5.029141991741426e-09 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1777500488331/pendant_light.glb", "sdf_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1777500488331/pendant_light.sdf", "image_path": "generated_assets/ceiling_mounted/images/pendant_light_1777500488331.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/pendant_light_1777500488331/pendant_light.glb", "sdf_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/pendant_light_1777500488331/pendant_light.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, -0.0, -0.750495, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.1897588, "ixy": -1.459231e-17, "ixz": -1.328553e-16, "iyy": 0.1897588, "iyz": -3.157463e-16, "izz": 0.1450957 }, "collision_meshes": [ "pendant_light_collision_0.obj", "pendant_light_collision_1.obj", "pendant_light_collision_2.obj", "pendant_light_collision_3.obj", "pendant_light_collision_4.obj", "pendant_light_collision_5.obj", "pendant_light_collision_6.obj", "pendant_light_collision_7.obj", "pendant_light_collision_8.obj", "pendant_light_collision_9.obj", "pendant_light_collision_10.obj", "pendant_light_collision_11.obj", "pendant_light_collision_12.obj", "pendant_light_collision_13.obj", "pendant_light_collision_14.obj", "pendant_light_collision_15.obj" ], "collision_mesh_info": [ { "uri": "pendant_light_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "pendant_light_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "pendant_light.gltf" ], "visual_mesh_info": [ { "uri": "pendant_light.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "flush_mount_0", "room_id": "living_room", "name": "flush_mount", "description": "Ultra-low-profile modern flush ceiling light with warm diffuser for living room seating area", "object_type": "ceiling_mounted", "transform": { "translation": [ -0.01247370983704, -0.7662597855471385, 2.5 ], "rotation_wxyz": [ 0.9999895178809428, 0.0, 0.0, 0.004578660092177545 ] }, "bbox_min": [ -0.42500001192092896, -0.42500001192092896, -0.08500000089406967 ], "bbox_max": [ 0.42500001192092896, 0.42500001192092896, 0.0 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/ceiling_mounted/sdf/flush_mount_1777501614084/flush_mount.glb", "sdf_path": "generated_assets/ceiling_mounted/sdf/flush_mount_1777501614084/flush_mount.sdf", "image_path": "generated_assets/ceiling_mounted/images/flush_mount_1777501614084.png", "support_surfaces": [], "placement_info": null, "geometry_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/flush_mount_1777501614084/flush_mount.glb", "sdf_path_resolved": "room_living_room/generated_assets/ceiling_mounted/sdf/flush_mount_1777501614084/flush_mount.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, 0.0, -0.060878, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.1131794, "ixy": 5.327577e-11, "ixz": 4.122343e-13, "iyy": 0.1131794, "iyz": 1.128318e-12, "izz": 0.2243214 }, "collision_meshes": [ "flush_mount_collision_0.obj", "flush_mount_collision_1.obj", "flush_mount_collision_2.obj", "flush_mount_collision_3.obj", "flush_mount_collision_4.obj", "flush_mount_collision_5.obj", "flush_mount_collision_6.obj", "flush_mount_collision_7.obj", "flush_mount_collision_8.obj", "flush_mount_collision_9.obj", "flush_mount_collision_10.obj", "flush_mount_collision_11.obj", "flush_mount_collision_12.obj", "flush_mount_collision_13.obj", "flush_mount_collision_14.obj", "flush_mount_collision_15.obj" ], "collision_mesh_info": [ { "uri": "flush_mount_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "flush_mount_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "flush_mount.gltf" ], "visual_mesh_info": [ { "uri": "flush_mount.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_knife_0", "room_id": "living_room", "name": "dining_knife", "description": "silver metal dining knife", "object_type": "manipuland", "transform": { "translation": [ -0.25601664773786, 1.431967800253218, 0.877063437747051 ], "rotation_wxyz": [ 0.9999717484415055, 0.0001620432912190644, -0.007241229013041425, 0.0020101400924270206 ] }, "bbox_min": [ -0.10962600260972977, -0.00954799260944128, 0.0 ], "bbox_max": [ 0.11037400364875793, 0.008799983188509941, 0.006599999964237213 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "image_path": "generated_assets/manipuland/images/dining_knife_1777504436899.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.205, -0.14 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "physics": { "links": { "base_link": { "mass": 0.08, "inertia_pose": [ 0.041915, 0.000297, 0.003301, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 1.285884e-06, "ixy": 2.037968e-06, "ixz": -3.307413e-09, "iyy": 0.0002148299, "iyz": 2.16897e-11, "izz": 0.000215819 }, "collision_meshes": [ "dining_knife_collision_0.obj", "dining_knife_collision_1.obj", "dining_knife_collision_2.obj", "dining_knife_collision_3.obj", "dining_knife_collision_4.obj", "dining_knife_collision_5.obj", "dining_knife_collision_6.obj", "dining_knife_collision_7.obj", "dining_knife_collision_8.obj", "dining_knife_collision_9.obj", "dining_knife_collision_10.obj", "dining_knife_collision_11.obj", "dining_knife_collision_12.obj", "dining_knife_collision_13.obj", "dining_knife_collision_14.obj", "dining_knife_collision_15.obj", "dining_knife_collision_16.obj", "dining_knife_collision_17.obj", "dining_knife_collision_18.obj", "dining_knife_collision_19.obj", "dining_knife_collision_20.obj", "dining_knife_collision_21.obj", "dining_knife_collision_22.obj", "dining_knife_collision_23.obj", "dining_knife_collision_24.obj", "dining_knife_collision_25.obj", "dining_knife_collision_26.obj", "dining_knife_collision_27.obj", "dining_knife_collision_28.obj", "dining_knife_collision_29.obj", "dining_knife_collision_30.obj", "dining_knife_collision_31.obj", "dining_knife_collision_32.obj", "dining_knife_collision_33.obj", "dining_knife_collision_34.obj", "dining_knife_collision_35.obj", "dining_knife_collision_36.obj", "dining_knife_collision_37.obj", "dining_knife_collision_38.obj", "dining_knife_collision_39.obj", "dining_knife_collision_40.obj", "dining_knife_collision_41.obj", "dining_knife_collision_42.obj", "dining_knife_collision_43.obj", "dining_knife_collision_44.obj", "dining_knife_collision_45.obj", "dining_knife_collision_46.obj", "dining_knife_collision_47.obj", "dining_knife_collision_48.obj", "dining_knife_collision_49.obj", "dining_knife_collision_50.obj", "dining_knife_collision_51.obj", "dining_knife_collision_52.obj", "dining_knife_collision_53.obj", "dining_knife_collision_54.obj", "dining_knife_collision_55.obj", "dining_knife_collision_56.obj", "dining_knife_collision_57.obj", "dining_knife_collision_58.obj", "dining_knife_collision_59.obj", "dining_knife_collision_60.obj", "dining_knife_collision_61.obj", "dining_knife_collision_62.obj", "dining_knife_collision_63.obj" ], "collision_mesh_info": [ { "uri": "dining_knife_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.74, "mu2": 0.74 }, "visual_meshes": [ "dining_knife.gltf" ], "visual_mesh_info": [ { "uri": "dining_knife.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "drinking_glass_0", "room_id": "living_room", "name": "drinking_glass", "description": "short clear drinking glass", "object_type": "manipuland", "transform": { "translation": [ -0.22651460828594316, 1.3097580375189186, 0.8782010960974573 ], "rotation_wxyz": [ 0.9999999999269021, -9.076230734616212e-06, -1.841438831356734e-07, -7.986488599792552e-06 ] }, "bbox_min": [ -0.03750000149011612, -0.03750000149011612, 0.0 ], "bbox_max": [ 0.03750000149011612, 0.03750000149011612, 0.08503454178571701 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "image_path": "generated_assets/manipuland/images/drinking_glass_1777506252217.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.18, -0.26 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "physics": { "links": { "base_link": { "mass": 0.28, "inertia_pose": [ 0.0, 0.0, 0.028884, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003008326, "ixy": 1.7093e-13, "ixz": 1.765024e-19, "iyy": 0.0003008326, "iyz": 5.068873e-18, "izz": 0.0001840725 }, "collision_meshes": [ "drinking_glass_collision_0.obj", "drinking_glass_collision_1.obj", "drinking_glass_collision_2.obj", "drinking_glass_collision_3.obj", "drinking_glass_collision_4.obj", "drinking_glass_collision_5.obj", "drinking_glass_collision_6.obj", "drinking_glass_collision_7.obj", "drinking_glass_collision_8.obj", "drinking_glass_collision_9.obj", "drinking_glass_collision_10.obj", "drinking_glass_collision_11.obj", "drinking_glass_collision_12.obj", "drinking_glass_collision_13.obj", "drinking_glass_collision_14.obj", "drinking_glass_collision_15.obj", "drinking_glass_collision_16.obj", "drinking_glass_collision_17.obj", "drinking_glass_collision_18.obj", "drinking_glass_collision_19.obj", "drinking_glass_collision_20.obj", "drinking_glass_collision_21.obj", "drinking_glass_collision_22.obj", "drinking_glass_collision_23.obj", "drinking_glass_collision_24.obj", "drinking_glass_collision_25.obj", "drinking_glass_collision_26.obj", "drinking_glass_collision_27.obj", "drinking_glass_collision_28.obj", "drinking_glass_collision_29.obj", "drinking_glass_collision_30.obj", "drinking_glass_collision_31.obj", "drinking_glass_collision_32.obj", "drinking_glass_collision_33.obj", "drinking_glass_collision_34.obj", "drinking_glass_collision_35.obj", "drinking_glass_collision_36.obj", "drinking_glass_collision_37.obj", "drinking_glass_collision_38.obj", "drinking_glass_collision_39.obj", "drinking_glass_collision_40.obj", "drinking_glass_collision_41.obj", "drinking_glass_collision_42.obj", "drinking_glass_collision_43.obj", "drinking_glass_collision_44.obj", "drinking_glass_collision_45.obj", "drinking_glass_collision_46.obj", "drinking_glass_collision_47.obj", "drinking_glass_collision_48.obj", "drinking_glass_collision_49.obj", "drinking_glass_collision_50.obj", "drinking_glass_collision_51.obj", "drinking_glass_collision_52.obj", "drinking_glass_collision_53.obj", "drinking_glass_collision_54.obj", "drinking_glass_collision_55.obj", "drinking_glass_collision_56.obj", "drinking_glass_collision_57.obj", "drinking_glass_collision_58.obj", "drinking_glass_collision_59.obj", "drinking_glass_collision_60.obj", "drinking_glass_collision_61.obj", "drinking_glass_collision_62.obj", "drinking_glass_collision_63.obj" ], "collision_mesh_info": [ { "uri": "drinking_glass_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.9, "mu2": 0.9 }, "visual_meshes": [ "drinking_glass.gltf" ], "visual_mesh_info": [ { "uri": "drinking_glass.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_knife_1", "room_id": "living_room", "name": "dining_knife", "description": "silver metal dining knife", "object_type": "manipuland", "transform": { "translation": [ 0.4095444982699518, 1.4076862701409498, 0.8770636118367529 ], "rotation_wxyz": [ 0.9999657636548003, 0.00011850824662562834, -0.007242190231817334, -0.004001019209356098 ] }, "bbox_min": [ -0.10962600260972977, -0.00954799260944128, 0.0 ], "bbox_max": [ 0.11037400364875793, 0.008799983188509941, 0.006599999964237213 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "image_path": "generated_assets/manipuland/images/dining_knife_1777504436899.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.465, -0.14 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "physics": { "links": { "base_link": { "mass": 0.08, "inertia_pose": [ 0.041915, 0.000297, 0.003301, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 1.285884e-06, "ixy": 2.037968e-06, "ixz": -3.307413e-09, "iyy": 0.0002148299, "iyz": 2.16897e-11, "izz": 0.000215819 }, "collision_meshes": [ "dining_knife_collision_0.obj", "dining_knife_collision_1.obj", "dining_knife_collision_2.obj", "dining_knife_collision_3.obj", "dining_knife_collision_4.obj", "dining_knife_collision_5.obj", "dining_knife_collision_6.obj", "dining_knife_collision_7.obj", "dining_knife_collision_8.obj", "dining_knife_collision_9.obj", "dining_knife_collision_10.obj", "dining_knife_collision_11.obj", "dining_knife_collision_12.obj", "dining_knife_collision_13.obj", "dining_knife_collision_14.obj", "dining_knife_collision_15.obj", "dining_knife_collision_16.obj", "dining_knife_collision_17.obj", "dining_knife_collision_18.obj", "dining_knife_collision_19.obj", "dining_knife_collision_20.obj", "dining_knife_collision_21.obj", "dining_knife_collision_22.obj", "dining_knife_collision_23.obj", "dining_knife_collision_24.obj", "dining_knife_collision_25.obj", "dining_knife_collision_26.obj", "dining_knife_collision_27.obj", "dining_knife_collision_28.obj", "dining_knife_collision_29.obj", "dining_knife_collision_30.obj", "dining_knife_collision_31.obj", "dining_knife_collision_32.obj", "dining_knife_collision_33.obj", "dining_knife_collision_34.obj", "dining_knife_collision_35.obj", "dining_knife_collision_36.obj", "dining_knife_collision_37.obj", "dining_knife_collision_38.obj", "dining_knife_collision_39.obj", "dining_knife_collision_40.obj", "dining_knife_collision_41.obj", "dining_knife_collision_42.obj", "dining_knife_collision_43.obj", "dining_knife_collision_44.obj", "dining_knife_collision_45.obj", "dining_knife_collision_46.obj", "dining_knife_collision_47.obj", "dining_knife_collision_48.obj", "dining_knife_collision_49.obj", "dining_knife_collision_50.obj", "dining_knife_collision_51.obj", "dining_knife_collision_52.obj", "dining_knife_collision_53.obj", "dining_knife_collision_54.obj", "dining_knife_collision_55.obj", "dining_knife_collision_56.obj", "dining_knife_collision_57.obj", "dining_knife_collision_58.obj", "dining_knife_collision_59.obj", "dining_knife_collision_60.obj", "dining_knife_collision_61.obj", "dining_knife_collision_62.obj", "dining_knife_collision_63.obj" ], "collision_mesh_info": [ { "uri": "dining_knife_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.74, "mu2": 0.74 }, "visual_meshes": [ "dining_knife.gltf" ], "visual_mesh_info": [ { "uri": "dining_knife.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "drinking_glass_1", "room_id": "living_room", "name": "drinking_glass", "description": "short clear drinking glass", "object_type": "manipuland", "transform": { "translation": [ 0.4329657282456173, 1.3140916389270274, 0.8782006952610475 ], "rotation_wxyz": [ 0.9998794094988199, -8.467813467461655e-06, 1.4774672918369137e-06, -0.015529532716875863 ] }, "bbox_min": [ -0.03750000149011612, -0.03750000149011612, 0.0 ], "bbox_max": [ 0.03750000149011612, 0.03750000149011612, 0.08503454178571701 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "image_path": "generated_assets/manipuland/images/drinking_glass_1777506252217.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.49, -0.24 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "physics": { "links": { "base_link": { "mass": 0.28, "inertia_pose": [ 0.0, 0.0, 0.028884, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003008326, "ixy": 1.7093e-13, "ixz": 1.765024e-19, "iyy": 0.0003008326, "iyz": 5.068873e-18, "izz": 0.0001840725 }, "collision_meshes": [ "drinking_glass_collision_0.obj", "drinking_glass_collision_1.obj", "drinking_glass_collision_2.obj", "drinking_glass_collision_3.obj", "drinking_glass_collision_4.obj", "drinking_glass_collision_5.obj", "drinking_glass_collision_6.obj", "drinking_glass_collision_7.obj", "drinking_glass_collision_8.obj", "drinking_glass_collision_9.obj", "drinking_glass_collision_10.obj", "drinking_glass_collision_11.obj", "drinking_glass_collision_12.obj", "drinking_glass_collision_13.obj", "drinking_glass_collision_14.obj", "drinking_glass_collision_15.obj", "drinking_glass_collision_16.obj", "drinking_glass_collision_17.obj", "drinking_glass_collision_18.obj", "drinking_glass_collision_19.obj", "drinking_glass_collision_20.obj", "drinking_glass_collision_21.obj", "drinking_glass_collision_22.obj", "drinking_glass_collision_23.obj", "drinking_glass_collision_24.obj", "drinking_glass_collision_25.obj", "drinking_glass_collision_26.obj", "drinking_glass_collision_27.obj", "drinking_glass_collision_28.obj", "drinking_glass_collision_29.obj", "drinking_glass_collision_30.obj", "drinking_glass_collision_31.obj", "drinking_glass_collision_32.obj", "drinking_glass_collision_33.obj", "drinking_glass_collision_34.obj", "drinking_glass_collision_35.obj", "drinking_glass_collision_36.obj", "drinking_glass_collision_37.obj", "drinking_glass_collision_38.obj", "drinking_glass_collision_39.obj", "drinking_glass_collision_40.obj", "drinking_glass_collision_41.obj", "drinking_glass_collision_42.obj", "drinking_glass_collision_43.obj", "drinking_glass_collision_44.obj", "drinking_glass_collision_45.obj", "drinking_glass_collision_46.obj", "drinking_glass_collision_47.obj", "drinking_glass_collision_48.obj", "drinking_glass_collision_49.obj", "drinking_glass_collision_50.obj", "drinking_glass_collision_51.obj", "drinking_glass_collision_52.obj", "drinking_glass_collision_53.obj", "drinking_glass_collision_54.obj", "drinking_glass_collision_55.obj", "drinking_glass_collision_56.obj", "drinking_glass_collision_57.obj", "drinking_glass_collision_58.obj", "drinking_glass_collision_59.obj", "drinking_glass_collision_60.obj", "drinking_glass_collision_61.obj", "drinking_glass_collision_62.obj", "drinking_glass_collision_63.obj" ], "collision_mesh_info": [ { "uri": "drinking_glass_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.9, "mu2": 0.9 }, "visual_meshes": [ "drinking_glass.gltf" ], "visual_mesh_info": [ { "uri": "drinking_glass.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "fork_2", "room_id": "living_room", "name": "fork", "description": "silver metal dining fork", "object_type": "manipuland", "transform": { "translation": [ -0.4681502356487248, 1.8025815588391985, 0.8755544221500058 ], "rotation_wxyz": [ 0.00869976723461264, 0.022742641171687363, 0.7179093154420567, 0.6957106446821961 ] }, "bbox_min": [ -0.01236564852297306, 0.0004777242138516158, -0.08214294165372849 ], "bbox_max": [ 0.01236565038561821, 0.00847772415727377, 0.08118748664855957 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/fork_1777502760530/fork.glb", "sdf_path": "generated_assets/manipuland/sdf/fork_1777502760530/fork.sdf", "image_path": "generated_assets/manipuland/images/fork_1777502760530.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.405, 0.16 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/fork_1777502760530/fork.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/fork_1777502760530/fork.sdf", "physics": { "links": { "base_link": { "mass": 0.04, "inertia_pose": [ -6e-06, 0.004828, -0.003026, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 8.638043e-05, "ixy": 9.269554e-11, "ixz": 1.565914e-08, "iyy": 8.756966e-05, "iyz": 1.832884e-06, "izz": 1.547906e-06 }, "collision_meshes": [ "fork_collision_0.obj", "fork_collision_1.obj", "fork_collision_2.obj", "fork_collision_3.obj", "fork_collision_4.obj", "fork_collision_5.obj", "fork_collision_6.obj", "fork_collision_7.obj", "fork_collision_8.obj", "fork_collision_9.obj", "fork_collision_10.obj", "fork_collision_11.obj", "fork_collision_12.obj", "fork_collision_13.obj", "fork_collision_14.obj", "fork_collision_15.obj", "fork_collision_16.obj", "fork_collision_17.obj", "fork_collision_18.obj", "fork_collision_19.obj", "fork_collision_20.obj", "fork_collision_21.obj", "fork_collision_22.obj", "fork_collision_23.obj", "fork_collision_24.obj", "fork_collision_25.obj", "fork_collision_26.obj", "fork_collision_27.obj", "fork_collision_28.obj", "fork_collision_29.obj", "fork_collision_30.obj", "fork_collision_31.obj", "fork_collision_32.obj", "fork_collision_33.obj", "fork_collision_34.obj", "fork_collision_35.obj", "fork_collision_36.obj", "fork_collision_37.obj", "fork_collision_38.obj", "fork_collision_39.obj", "fork_collision_40.obj", "fork_collision_41.obj", "fork_collision_42.obj", "fork_collision_43.obj", "fork_collision_44.obj", "fork_collision_45.obj", "fork_collision_46.obj", "fork_collision_47.obj", "fork_collision_48.obj", "fork_collision_49.obj", "fork_collision_50.obj", "fork_collision_51.obj", "fork_collision_52.obj", "fork_collision_53.obj", "fork_collision_54.obj", "fork_collision_55.obj", "fork_collision_56.obj", "fork_collision_57.obj", "fork_collision_58.obj", "fork_collision_59.obj", "fork_collision_60.obj", "fork_collision_61.obj", "fork_collision_62.obj", "fork_collision_63.obj" ], "collision_mesh_info": [ { "uri": "fork_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "fork_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.74, "mu2": 0.74 }, "visual_meshes": [ "fork.gltf" ], "visual_mesh_info": [ { "uri": "fork.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_knife_2", "room_id": "living_room", "name": "dining_knife", "description": "silver metal dining knife", "object_type": "manipuland", "transform": { "translation": [ -0.21466713152194286, 1.7292506724803611, 0.8770575847446993 ], "rotation_wxyz": [ 0.016438946443737848, 0.007243479914058112, 4.8042417240081995e-05, 0.9998386323454803 ] }, "bbox_min": [ -0.10962600260972977, -0.00954799260944128, 0.0 ], "bbox_max": [ 0.11037400364875793, 0.008799983188509941, 0.006599999964237213 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "image_path": "generated_assets/manipuland/images/dining_knife_1777504436899.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.165, 0.16 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "physics": { "links": { "base_link": { "mass": 0.08, "inertia_pose": [ 0.041915, 0.000297, 0.003301, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 1.285884e-06, "ixy": 2.037968e-06, "ixz": -3.307413e-09, "iyy": 0.0002148299, "iyz": 2.16897e-11, "izz": 0.000215819 }, "collision_meshes": [ "dining_knife_collision_0.obj", "dining_knife_collision_1.obj", "dining_knife_collision_2.obj", "dining_knife_collision_3.obj", "dining_knife_collision_4.obj", "dining_knife_collision_5.obj", "dining_knife_collision_6.obj", "dining_knife_collision_7.obj", "dining_knife_collision_8.obj", "dining_knife_collision_9.obj", "dining_knife_collision_10.obj", "dining_knife_collision_11.obj", "dining_knife_collision_12.obj", "dining_knife_collision_13.obj", "dining_knife_collision_14.obj", "dining_knife_collision_15.obj", "dining_knife_collision_16.obj", "dining_knife_collision_17.obj", "dining_knife_collision_18.obj", "dining_knife_collision_19.obj", "dining_knife_collision_20.obj", "dining_knife_collision_21.obj", "dining_knife_collision_22.obj", "dining_knife_collision_23.obj", "dining_knife_collision_24.obj", "dining_knife_collision_25.obj", "dining_knife_collision_26.obj", "dining_knife_collision_27.obj", "dining_knife_collision_28.obj", "dining_knife_collision_29.obj", "dining_knife_collision_30.obj", "dining_knife_collision_31.obj", "dining_knife_collision_32.obj", "dining_knife_collision_33.obj", "dining_knife_collision_34.obj", "dining_knife_collision_35.obj", "dining_knife_collision_36.obj", "dining_knife_collision_37.obj", "dining_knife_collision_38.obj", "dining_knife_collision_39.obj", "dining_knife_collision_40.obj", "dining_knife_collision_41.obj", "dining_knife_collision_42.obj", "dining_knife_collision_43.obj", "dining_knife_collision_44.obj", "dining_knife_collision_45.obj", "dining_knife_collision_46.obj", "dining_knife_collision_47.obj", "dining_knife_collision_48.obj", "dining_knife_collision_49.obj", "dining_knife_collision_50.obj", "dining_knife_collision_51.obj", "dining_knife_collision_52.obj", "dining_knife_collision_53.obj", "dining_knife_collision_54.obj", "dining_knife_collision_55.obj", "dining_knife_collision_56.obj", "dining_knife_collision_57.obj", "dining_knife_collision_58.obj", "dining_knife_collision_59.obj", "dining_knife_collision_60.obj", "dining_knife_collision_61.obj", "dining_knife_collision_62.obj", "dining_knife_collision_63.obj" ], "collision_mesh_info": [ { "uri": "dining_knife_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.74, "mu2": 0.74 }, "visual_meshes": [ "dining_knife.gltf" ], "visual_mesh_info": [ { "uri": "dining_knife.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "drinking_glass_2", "room_id": "living_room", "name": "drinking_glass", "description": "short clear drinking glass", "object_type": "manipuland", "transform": { "translation": [ -0.18567795893055788, 1.8635349024265262, 0.8763380602482411 ], "rotation_wxyz": [ 0.004783346791980839, 0.0016404516297548139, -5.3874577231264204e-05, -0.999987212722967 ] }, "bbox_min": [ -0.03750000149011612, -0.03750000149011612, 0.0 ], "bbox_max": [ 0.03750000149011612, 0.03750000149011612, 0.08503454178571701 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "image_path": "generated_assets/manipuland/images/drinking_glass_1777506252217.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.15, 0.28 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "physics": { "links": { "base_link": { "mass": 0.28, "inertia_pose": [ 0.0, 0.0, 0.028884, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003008326, "ixy": 1.7093e-13, "ixz": 1.765024e-19, "iyy": 0.0003008326, "iyz": 5.068873e-18, "izz": 0.0001840725 }, "collision_meshes": [ "drinking_glass_collision_0.obj", "drinking_glass_collision_1.obj", "drinking_glass_collision_2.obj", "drinking_glass_collision_3.obj", "drinking_glass_collision_4.obj", "drinking_glass_collision_5.obj", "drinking_glass_collision_6.obj", "drinking_glass_collision_7.obj", "drinking_glass_collision_8.obj", "drinking_glass_collision_9.obj", "drinking_glass_collision_10.obj", "drinking_glass_collision_11.obj", "drinking_glass_collision_12.obj", "drinking_glass_collision_13.obj", "drinking_glass_collision_14.obj", "drinking_glass_collision_15.obj", "drinking_glass_collision_16.obj", "drinking_glass_collision_17.obj", "drinking_glass_collision_18.obj", "drinking_glass_collision_19.obj", "drinking_glass_collision_20.obj", "drinking_glass_collision_21.obj", "drinking_glass_collision_22.obj", "drinking_glass_collision_23.obj", "drinking_glass_collision_24.obj", "drinking_glass_collision_25.obj", "drinking_glass_collision_26.obj", "drinking_glass_collision_27.obj", "drinking_glass_collision_28.obj", "drinking_glass_collision_29.obj", "drinking_glass_collision_30.obj", "drinking_glass_collision_31.obj", "drinking_glass_collision_32.obj", "drinking_glass_collision_33.obj", "drinking_glass_collision_34.obj", "drinking_glass_collision_35.obj", "drinking_glass_collision_36.obj", "drinking_glass_collision_37.obj", "drinking_glass_collision_38.obj", "drinking_glass_collision_39.obj", "drinking_glass_collision_40.obj", "drinking_glass_collision_41.obj", "drinking_glass_collision_42.obj", "drinking_glass_collision_43.obj", "drinking_glass_collision_44.obj", "drinking_glass_collision_45.obj", "drinking_glass_collision_46.obj", "drinking_glass_collision_47.obj", "drinking_glass_collision_48.obj", "drinking_glass_collision_49.obj", "drinking_glass_collision_50.obj", "drinking_glass_collision_51.obj", "drinking_glass_collision_52.obj", "drinking_glass_collision_53.obj", "drinking_glass_collision_54.obj", "drinking_glass_collision_55.obj", "drinking_glass_collision_56.obj", "drinking_glass_collision_57.obj", "drinking_glass_collision_58.obj", "drinking_glass_collision_59.obj", "drinking_glass_collision_60.obj", "drinking_glass_collision_61.obj", "drinking_glass_collision_62.obj", "drinking_glass_collision_63.obj" ], "collision_mesh_info": [ { "uri": "drinking_glass_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.9, "mu2": 0.9 }, "visual_meshes": [ "drinking_glass.gltf" ], "visual_mesh_info": [ { "uri": "drinking_glass.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "dining_knife_3", "room_id": "living_room", "name": "dining_knife", "description": "silver metal dining knife", "object_type": "manipuland", "transform": { "translation": [ 0.4397017781566027, 1.7092947820010405, 0.8770576790291162 ], "rotation_wxyz": [ 0.04298102014587959, 0.007241680502226026, -0.0001443010185018293, 0.9990496329752289 ] }, "bbox_min": [ -0.10962600260972977, -0.00954799260944128, 0.0 ], "bbox_max": [ 0.11037400364875793, 0.008799983188509941, 0.006599999964237213 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path": "generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "image_path": "generated_assets/manipuland/images/dining_knife_1777504436899.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.495, 0.16 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/dining_knife_1777504436899/dining_knife.sdf", "physics": { "links": { "base_link": { "mass": 0.08, "inertia_pose": [ 0.041915, 0.000297, 0.003301, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 1.285884e-06, "ixy": 2.037968e-06, "ixz": -3.307413e-09, "iyy": 0.0002148299, "iyz": 2.16897e-11, "izz": 0.000215819 }, "collision_meshes": [ "dining_knife_collision_0.obj", "dining_knife_collision_1.obj", "dining_knife_collision_2.obj", "dining_knife_collision_3.obj", "dining_knife_collision_4.obj", "dining_knife_collision_5.obj", "dining_knife_collision_6.obj", "dining_knife_collision_7.obj", "dining_knife_collision_8.obj", "dining_knife_collision_9.obj", "dining_knife_collision_10.obj", "dining_knife_collision_11.obj", "dining_knife_collision_12.obj", "dining_knife_collision_13.obj", "dining_knife_collision_14.obj", "dining_knife_collision_15.obj", "dining_knife_collision_16.obj", "dining_knife_collision_17.obj", "dining_knife_collision_18.obj", "dining_knife_collision_19.obj", "dining_knife_collision_20.obj", "dining_knife_collision_21.obj", "dining_knife_collision_22.obj", "dining_knife_collision_23.obj", "dining_knife_collision_24.obj", "dining_knife_collision_25.obj", "dining_knife_collision_26.obj", "dining_knife_collision_27.obj", "dining_knife_collision_28.obj", "dining_knife_collision_29.obj", "dining_knife_collision_30.obj", "dining_knife_collision_31.obj", "dining_knife_collision_32.obj", "dining_knife_collision_33.obj", "dining_knife_collision_34.obj", "dining_knife_collision_35.obj", "dining_knife_collision_36.obj", "dining_knife_collision_37.obj", "dining_knife_collision_38.obj", "dining_knife_collision_39.obj", "dining_knife_collision_40.obj", "dining_knife_collision_41.obj", "dining_knife_collision_42.obj", "dining_knife_collision_43.obj", "dining_knife_collision_44.obj", "dining_knife_collision_45.obj", "dining_knife_collision_46.obj", "dining_knife_collision_47.obj", "dining_knife_collision_48.obj", "dining_knife_collision_49.obj", "dining_knife_collision_50.obj", "dining_knife_collision_51.obj", "dining_knife_collision_52.obj", "dining_knife_collision_53.obj", "dining_knife_collision_54.obj", "dining_knife_collision_55.obj", "dining_knife_collision_56.obj", "dining_knife_collision_57.obj", "dining_knife_collision_58.obj", "dining_knife_collision_59.obj", "dining_knife_collision_60.obj", "dining_knife_collision_61.obj", "dining_knife_collision_62.obj", "dining_knife_collision_63.obj" ], "collision_mesh_info": [ { "uri": "dining_knife_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "dining_knife_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.74, "mu2": 0.74 }, "visual_meshes": [ "dining_knife.gltf" ], "visual_mesh_info": [ { "uri": "dining_knife.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "drinking_glass_3", "room_id": "living_room", "name": "drinking_glass", "description": "short clear drinking glass", "object_type": "manipuland", "transform": { "translation": [ 0.47687978722124763, 1.823653717909791, 0.8781904883307486 ], "rotation_wxyz": [ 0.0004878444493888421, 9.454509543132615e-07, 1.3590546007163418e-05, 0.9999998809110912 ] }, "bbox_min": [ -0.03750000149011612, -0.03750000149011612, 0.0 ], "bbox_max": [ 0.03750000149011612, 0.03750000149011612, 0.08503454178571701 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "image_path": "generated_assets/manipuland/images/drinking_glass_1777506252217.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.52, 0.27 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "physics": { "links": { "base_link": { "mass": 0.28, "inertia_pose": [ 0.0, 0.0, 0.028884, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003008326, "ixy": 1.7093e-13, "ixz": 1.765024e-19, "iyy": 0.0003008326, "iyz": 5.068873e-18, "izz": 0.0001840725 }, "collision_meshes": [ "drinking_glass_collision_0.obj", "drinking_glass_collision_1.obj", "drinking_glass_collision_2.obj", "drinking_glass_collision_3.obj", "drinking_glass_collision_4.obj", "drinking_glass_collision_5.obj", "drinking_glass_collision_6.obj", "drinking_glass_collision_7.obj", "drinking_glass_collision_8.obj", "drinking_glass_collision_9.obj", "drinking_glass_collision_10.obj", "drinking_glass_collision_11.obj", "drinking_glass_collision_12.obj", "drinking_glass_collision_13.obj", "drinking_glass_collision_14.obj", "drinking_glass_collision_15.obj", "drinking_glass_collision_16.obj", "drinking_glass_collision_17.obj", "drinking_glass_collision_18.obj", "drinking_glass_collision_19.obj", "drinking_glass_collision_20.obj", "drinking_glass_collision_21.obj", "drinking_glass_collision_22.obj", "drinking_glass_collision_23.obj", "drinking_glass_collision_24.obj", "drinking_glass_collision_25.obj", "drinking_glass_collision_26.obj", "drinking_glass_collision_27.obj", "drinking_glass_collision_28.obj", "drinking_glass_collision_29.obj", "drinking_glass_collision_30.obj", "drinking_glass_collision_31.obj", "drinking_glass_collision_32.obj", "drinking_glass_collision_33.obj", "drinking_glass_collision_34.obj", "drinking_glass_collision_35.obj", "drinking_glass_collision_36.obj", "drinking_glass_collision_37.obj", "drinking_glass_collision_38.obj", "drinking_glass_collision_39.obj", "drinking_glass_collision_40.obj", "drinking_glass_collision_41.obj", "drinking_glass_collision_42.obj", "drinking_glass_collision_43.obj", "drinking_glass_collision_44.obj", "drinking_glass_collision_45.obj", "drinking_glass_collision_46.obj", "drinking_glass_collision_47.obj", "drinking_glass_collision_48.obj", "drinking_glass_collision_49.obj", "drinking_glass_collision_50.obj", "drinking_glass_collision_51.obj", "drinking_glass_collision_52.obj", "drinking_glass_collision_53.obj", "drinking_glass_collision_54.obj", "drinking_glass_collision_55.obj", "drinking_glass_collision_56.obj", "drinking_glass_collision_57.obj", "drinking_glass_collision_58.obj", "drinking_glass_collision_59.obj", "drinking_glass_collision_60.obj", "drinking_glass_collision_61.obj", "drinking_glass_collision_62.obj", "drinking_glass_collision_63.obj" ], "collision_mesh_info": [ { "uri": "drinking_glass_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.9, "mu2": 0.9 }, "visual_meshes": [ "drinking_glass.gltf" ], "visual_mesh_info": [ { "uri": "drinking_glass.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cloth_napkin_4", "room_id": "living_room", "name": "cloth_napkin", "description": "simple cloth napkin", "object_type": "manipuland", "transform": { "translation": [ -0.3822471574441309, 1.4214396972229195, 0.8781991291198813 ], "rotation_wxyz": [ 0.9998594843687091, -9.81357236972021e-06, 1.7799120605300174e-07, 0.016763395288590437 ] }, "bbox_min": [ -0.10999999940395355, -0.054999999701976776, 0.0 ], "bbox_max": [ 0.10999999940395355, 0.054999999701976776, 0.0020000000949949026 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "image_path": null, "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.33, -0.14 ], "rotation_2d": 0.03490658503988659, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "physics": { "links": { "base_link": { "visual_meshes": [ "cloth_napkin.gltf" ], "visual_mesh_info": [ { "uri": "cloth_napkin.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cloth_napkin_5", "room_id": "living_room", "name": "cloth_napkin", "description": "simple cloth napkin", "object_type": "manipuland", "transform": { "translation": [ 0.2753563770073367, 1.4091294568324464, 0.8781991292124381 ], "rotation_wxyz": [ 0.9969359441332741, -9.811885531054776e-06, 2.545306477843247e-07, -0.0782222679213526 ] }, "bbox_min": [ -0.10999999940395355, -0.054999999701976776, 0.0 ], "bbox_max": [ 0.10999999940395355, 0.054999999701976776, 0.0020000000949949026 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "image_path": null, "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.33, -0.14 ], "rotation_2d": -0.05235987755982989, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "physics": { "links": { "base_link": { "visual_meshes": [ "cloth_napkin.gltf" ], "visual_mesh_info": [ { "uri": "cloth_napkin.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cloth_napkin_6", "room_id": "living_room", "name": "cloth_napkin", "description": "simple cloth napkin", "object_type": "manipuland", "transform": { "translation": [ -0.3524816566481689, 1.7153991393568244, 0.8781932400136678 ], "rotation_wxyz": [ 0.999185209148035, -9.810930457871403e-06, -2.89010511770347e-07, -0.040359852867167915 ] }, "bbox_min": [ -0.10999999940395355, -0.054999999701976776, 0.0 ], "bbox_max": [ 0.10999999940395355, 0.054999999701976776, 0.0020000000949949026 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "image_path": null, "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ -0.29, 0.16 ], "rotation_2d": -0.06981317007977318, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "physics": { "links": { "base_link": { "visual_meshes": [ "cloth_napkin.gltf" ], "visual_mesh_info": [ { "uri": "cloth_napkin.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cloth_napkin_7", "room_id": "living_room", "name": "cloth_napkin", "description": "simple cloth napkin", "object_type": "manipuland", "transform": { "translation": [ 0.2856100324557202, 1.7256013840085318, 0.8781932401020175 ], "rotation_wxyz": [ 0.9984097727801681, -9.71407332883593e-06, 1.4052269877704847e-06, -0.05637309216918401 ] }, "bbox_min": [ -0.10999999940395355, -0.054999999701976776, 0.0 ], "bbox_max": [ 0.10999999940395355, 0.054999999701976776, 0.0020000000949949026 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path": "generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "image_path": null, "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.34, 0.16 ], "rotation_2d": 0.08726646259971647, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.gltf", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cloth_napkin_1777507007/cloth_napkin.sdf", "physics": { "links": { "base_link": { "visual_meshes": [ "cloth_napkin.gltf" ], "visual_mesh_info": [ { "uri": "cloth_napkin.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cup_centerpiece_0", "room_id": "living_room", "name": "cup_centerpiece", "description": "small ceramic cup centerpiece", "object_type": "manipuland", "transform": { "translation": [ -0.028877244095409378, 1.5774134670398037, 0.8781818621124192 ], "rotation_wxyz": [ 0.9939997122910784, 0.0012190480555548705, -0.0006812438673150793, 0.10937377105085415 ] }, "bbox_min": [ -0.04720229655504227, -0.047280918806791306, 0.0 ], "bbox_max": [ 0.04742652177810669, 0.04750511795282364, 0.09000000357627869 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.glb", "sdf_path": "generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.sdf", "image_path": "generated_assets/manipuland/images/cup_centerpiece_1777509054211.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_0", "position_2d": [ 0.02, 0.01 ], "rotation_2d": 0.20943951023931956, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.sdf", "physics": { "links": { "base_link": { "mass": 0.7, "inertia_pose": [ 0.000102, 4.3e-05, 0.032258, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0009515872, "ixy": -8.460297e-08, "ixz": 2.062091e-07, "iyy": 0.0009514265, "iyz": -4.889645e-07, "izz": 0.0009240897 }, "collision_meshes": [ "cup_centerpiece_collision_0.obj", "cup_centerpiece_collision_1.obj", "cup_centerpiece_collision_2.obj", "cup_centerpiece_collision_3.obj", "cup_centerpiece_collision_4.obj", "cup_centerpiece_collision_5.obj", "cup_centerpiece_collision_6.obj", "cup_centerpiece_collision_7.obj", "cup_centerpiece_collision_8.obj", "cup_centerpiece_collision_9.obj", "cup_centerpiece_collision_10.obj", "cup_centerpiece_collision_11.obj", "cup_centerpiece_collision_12.obj", "cup_centerpiece_collision_13.obj", "cup_centerpiece_collision_14.obj", "cup_centerpiece_collision_15.obj", "cup_centerpiece_collision_16.obj", "cup_centerpiece_collision_17.obj", "cup_centerpiece_collision_18.obj", "cup_centerpiece_collision_19.obj", "cup_centerpiece_collision_20.obj", "cup_centerpiece_collision_21.obj", "cup_centerpiece_collision_22.obj", "cup_centerpiece_collision_23.obj", "cup_centerpiece_collision_24.obj", "cup_centerpiece_collision_25.obj", "cup_centerpiece_collision_26.obj", "cup_centerpiece_collision_27.obj", "cup_centerpiece_collision_28.obj", "cup_centerpiece_collision_29.obj", "cup_centerpiece_collision_30.obj", "cup_centerpiece_collision_31.obj", "cup_centerpiece_collision_32.obj", "cup_centerpiece_collision_33.obj", "cup_centerpiece_collision_34.obj", "cup_centerpiece_collision_35.obj", "cup_centerpiece_collision_36.obj", "cup_centerpiece_collision_37.obj", "cup_centerpiece_collision_38.obj", "cup_centerpiece_collision_39.obj", "cup_centerpiece_collision_40.obj", "cup_centerpiece_collision_41.obj", "cup_centerpiece_collision_42.obj", "cup_centerpiece_collision_43.obj", "cup_centerpiece_collision_44.obj", "cup_centerpiece_collision_45.obj", "cup_centerpiece_collision_46.obj", "cup_centerpiece_collision_47.obj", "cup_centerpiece_collision_48.obj", "cup_centerpiece_collision_49.obj", "cup_centerpiece_collision_50.obj", "cup_centerpiece_collision_51.obj", "cup_centerpiece_collision_52.obj", "cup_centerpiece_collision_53.obj", "cup_centerpiece_collision_54.obj", "cup_centerpiece_collision_55.obj", "cup_centerpiece_collision_56.obj", "cup_centerpiece_collision_57.obj", "cup_centerpiece_collision_58.obj", "cup_centerpiece_collision_59.obj", "cup_centerpiece_collision_60.obj", "cup_centerpiece_collision_61.obj", "cup_centerpiece_collision_62.obj", "cup_centerpiece_collision_63.obj" ], "collision_mesh_info": [ { "uri": "cup_centerpiece_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "cup_centerpiece.gltf" ], "visual_mesh_info": [ { "uri": "cup_centerpiece.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "tv_remote_control_0", "room_id": "living_room", "name": "tv_remote_control", "description": "slim black TV remote control", "object_type": "manipuland", "transform": { "translation": [ 0.25209869498323506, -1.1351546615256554, 0.49491754896697704 ], "rotation_wxyz": [ 0.9923026392928598, 1.6356351944576385e-05, -7.157031893471618e-06, 0.123836471742663 ] }, "bbox_min": [ -0.02500000037252903, -0.08928568661212921, 0.0 ], "bbox_max": [ 0.02500000037252903, 0.08928568661212921, 0.008928568102419376 ], "scale_factor": 0.25, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "image_path": "generated_assets/manipuland/images/tv_remote_control_1777512194261.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_1", "position_2d": [ 0.2, 0.08 ], "rotation_2d": 0.2792526803190927, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "physics": { "links": { "base_link": { "mass": 0.12, "inertia_pose": [ 4e-06, -0.00042525, 0.00388175, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003048704, "ixy": -3.557108e-08, "ixz": -1.694095e-09, "iyy": 2.372173e-05, "iyz": 1.657249e-07, "izz": 0.0003274276 }, "collision_meshes": [ "tv_remote_control_collision_0.obj", "tv_remote_control_collision_1.obj", "tv_remote_control_collision_2.obj", "tv_remote_control_collision_3.obj", "tv_remote_control_collision_4.obj", "tv_remote_control_collision_5.obj", "tv_remote_control_collision_6.obj", "tv_remote_control_collision_7.obj", "tv_remote_control_collision_8.obj", "tv_remote_control_collision_9.obj", "tv_remote_control_collision_10.obj", "tv_remote_control_collision_11.obj", "tv_remote_control_collision_12.obj", "tv_remote_control_collision_13.obj", "tv_remote_control_collision_14.obj", "tv_remote_control_collision_15.obj", "tv_remote_control_collision_16.obj", "tv_remote_control_collision_17.obj", "tv_remote_control_collision_18.obj", "tv_remote_control_collision_19.obj", "tv_remote_control_collision_20.obj", "tv_remote_control_collision_21.obj", "tv_remote_control_collision_22.obj", "tv_remote_control_collision_23.obj", "tv_remote_control_collision_24.obj", "tv_remote_control_collision_25.obj", "tv_remote_control_collision_26.obj", "tv_remote_control_collision_27.obj", "tv_remote_control_collision_28.obj", "tv_remote_control_collision_29.obj", "tv_remote_control_collision_30.obj", "tv_remote_control_collision_31.obj", "tv_remote_control_collision_32.obj", "tv_remote_control_collision_33.obj", "tv_remote_control_collision_34.obj", "tv_remote_control_collision_35.obj", "tv_remote_control_collision_36.obj", "tv_remote_control_collision_37.obj", "tv_remote_control_collision_38.obj", "tv_remote_control_collision_39.obj", "tv_remote_control_collision_40.obj", "tv_remote_control_collision_41.obj", "tv_remote_control_collision_42.obj", "tv_remote_control_collision_43.obj", "tv_remote_control_collision_44.obj", "tv_remote_control_collision_45.obj", "tv_remote_control_collision_46.obj", "tv_remote_control_collision_47.obj", "tv_remote_control_collision_48.obj", "tv_remote_control_collision_49.obj", "tv_remote_control_collision_50.obj", "tv_remote_control_collision_51.obj", "tv_remote_control_collision_52.obj", "tv_remote_control_collision_53.obj", "tv_remote_control_collision_54.obj", "tv_remote_control_collision_55.obj", "tv_remote_control_collision_56.obj", "tv_remote_control_collision_57.obj", "tv_remote_control_collision_58.obj", "tv_remote_control_collision_59.obj", "tv_remote_control_collision_60.obj", "tv_remote_control_collision_61.obj", "tv_remote_control_collision_62.obj", "tv_remote_control_collision_63.obj" ], "collision_mesh_info": [ { "uri": "tv_remote_control_collision_0.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_1.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_2.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_3.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_4.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_5.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_6.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_7.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_8.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_9.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_10.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_11.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_12.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_13.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_14.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_15.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_16.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_17.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_18.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_19.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_20.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_21.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_22.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_23.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_24.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_25.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_26.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_27.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_28.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_29.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_30.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_31.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_32.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_33.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_34.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_35.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_36.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_37.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_38.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_39.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_40.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_41.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_42.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_43.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_44.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_45.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_46.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_47.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_48.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_49.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_50.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_51.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_52.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_53.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_54.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_55.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_56.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_57.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_58.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_59.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_60.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_61.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_62.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_63.obj", "scale": [ 0.25, 0.25, 0.25 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "tv_remote_control.gltf" ], "visual_mesh_info": [ { "uri": "tv_remote_control.gltf", "scale": [ 0.25, 0.25, 0.25 ] } ] } } }, "visual_scale": [ 0.25, 0.25, 0.25 ] }, { "object_id": "drinking_glass_4", "room_id": "living_room", "name": "drinking_glass", "description": "short clear drinking glass", "object_type": "manipuland", "transform": { "translation": [ -0.1550920567398835, -1.2303234378106533, 0.4949101639341969 ], "rotation_wxyz": [ 0.9988086602761744, 1.885408600036058e-05, -6.535338840843464e-06, 0.04879815323479366 ] }, "bbox_min": [ -0.03750000149011612, -0.03750000149011612, 0.0 ], "bbox_max": [ 0.03750000149011612, 0.03750000149011612, 0.08503454178571701 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path": "generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "image_path": "generated_assets/manipuland/images/drinking_glass_1777506252217.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_1", "position_2d": [ -0.22, -0.005 ], "rotation_2d": 0.13962634015954636, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/drinking_glass_1777506252217/drinking_glass.sdf", "physics": { "links": { "base_link": { "mass": 0.28, "inertia_pose": [ 0.0, 0.0, 0.028884, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003008326, "ixy": 1.7093e-13, "ixz": 1.765024e-19, "iyy": 0.0003008326, "iyz": 5.068873e-18, "izz": 0.0001840725 }, "collision_meshes": [ "drinking_glass_collision_0.obj", "drinking_glass_collision_1.obj", "drinking_glass_collision_2.obj", "drinking_glass_collision_3.obj", "drinking_glass_collision_4.obj", "drinking_glass_collision_5.obj", "drinking_glass_collision_6.obj", "drinking_glass_collision_7.obj", "drinking_glass_collision_8.obj", "drinking_glass_collision_9.obj", "drinking_glass_collision_10.obj", "drinking_glass_collision_11.obj", "drinking_glass_collision_12.obj", "drinking_glass_collision_13.obj", "drinking_glass_collision_14.obj", "drinking_glass_collision_15.obj", "drinking_glass_collision_16.obj", "drinking_glass_collision_17.obj", "drinking_glass_collision_18.obj", "drinking_glass_collision_19.obj", "drinking_glass_collision_20.obj", "drinking_glass_collision_21.obj", "drinking_glass_collision_22.obj", "drinking_glass_collision_23.obj", "drinking_glass_collision_24.obj", "drinking_glass_collision_25.obj", "drinking_glass_collision_26.obj", "drinking_glass_collision_27.obj", "drinking_glass_collision_28.obj", "drinking_glass_collision_29.obj", "drinking_glass_collision_30.obj", "drinking_glass_collision_31.obj", "drinking_glass_collision_32.obj", "drinking_glass_collision_33.obj", "drinking_glass_collision_34.obj", "drinking_glass_collision_35.obj", "drinking_glass_collision_36.obj", "drinking_glass_collision_37.obj", "drinking_glass_collision_38.obj", "drinking_glass_collision_39.obj", "drinking_glass_collision_40.obj", "drinking_glass_collision_41.obj", "drinking_glass_collision_42.obj", "drinking_glass_collision_43.obj", "drinking_glass_collision_44.obj", "drinking_glass_collision_45.obj", "drinking_glass_collision_46.obj", "drinking_glass_collision_47.obj", "drinking_glass_collision_48.obj", "drinking_glass_collision_49.obj", "drinking_glass_collision_50.obj", "drinking_glass_collision_51.obj", "drinking_glass_collision_52.obj", "drinking_glass_collision_53.obj", "drinking_glass_collision_54.obj", "drinking_glass_collision_55.obj", "drinking_glass_collision_56.obj", "drinking_glass_collision_57.obj", "drinking_glass_collision_58.obj", "drinking_glass_collision_59.obj", "drinking_glass_collision_60.obj", "drinking_glass_collision_61.obj", "drinking_glass_collision_62.obj", "drinking_glass_collision_63.obj" ], "collision_mesh_info": [ { "uri": "drinking_glass_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "drinking_glass_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.9, "mu2": 0.9 }, "visual_meshes": [ "drinking_glass.gltf" ], "visual_mesh_info": [ { "uri": "drinking_glass.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": "small rectangular dark wood decorative tray", "object_type": "manipuland", "transform": { "translation": [ -0.014396565319687018, -1.2516482013377699, 0.49491070782531565 ], "rotation_wxyz": [ 0.9912488610512267, 1.6026373577881824e-05, -8.052384639603176e-06, 0.13200642083989853 ] }, "bbox_min": [ -0.09000000357627869, -0.1499999612569809, 0.0 ], "bbox_max": [ 0.09000000357627869, 0.1499999612569809, 0.04499998688697815 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/decorative_tray_1777517735476/decorative_tray.glb", "sdf_path": "generated_assets/manipuland/sdf/decorative_tray_1777517735476/decorative_tray.sdf", "image_path": "generated_assets/manipuland/images/decorative_tray_1777517735476.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_1", "position_2d": [ -0.08, -0.02 ], "rotation_2d": 0.20943951023931956, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/decorative_tray_1777517735476/decorative_tray.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/decorative_tray_1777517735476/decorative_tray.sdf", "physics": { "links": { "base_link": { "mass": 0.7, "inertia_pose": [ 0.0, -0.0, 0.014542, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.006783524, "ixy": 1.310855e-09, "ixz": 6.029517e-20, "iyy": 0.002831706, "iyz": 1.358005e-19, "izz": 0.009369411 }, "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": 0.4, "mu2": 0.4 }, "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": "hardcover_book_0", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with neutral beige cover", "object_type": "manipuland", "transform": { "translation": [ -1.3152517494376157, -0.29125635976282716, 0.5912779351479851 ], "rotation_wxyz": [ 0.9951463376577516, 0.0010779314214495357, -0.000485068668215039, 0.0983990315938213 ] }, "bbox_min": [ -0.06239999860525131, -0.0831972125172615, 0.0 ], "bbox_max": [ 0.06239999860525131, 0.0831972125172615, 0.024956371933221817 ], "scale_factor": 0.78, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777518764680.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_2", "position_2d": [ 0.07, 0.1 ], "rotation_2d": 0.17453292519943295, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.8, "inertia_pose": [ 0.0020709, 0.0, 0.01247844, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.001756555, "ixy": 1.363618e-10, "ixz": -6.9508e-11, "iyy": 0.000987101, "iyz": -3.071051e-11, "izz": 0.002675401 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 0.78, 0.78, 0.78 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 0.78, 0.78, 0.78 ] } ] } } }, "visual_scale": [ 0.78, 0.78, 0.78 ] }, { "object_id": "table_lamp_0", "room_id": "living_room", "name": "table_lamp", "description": "small compact table lamp with simple fabric shade and narrow wooden base", "object_type": "manipuland", "transform": { "translation": [ -1.4161887267497848, -0.37865017407012014, 0.5911457018192369 ], "rotation_wxyz": [ 0.9999715105528243, 0.001097059106819013, 9.085683264844577e-06, -0.007468230143029154 ] }, "bbox_min": [ -0.06499999761581421, -0.06499999761581421, 0.0 ], "bbox_max": [ 0.06499999761581421, 0.06499999761581421, 0.23102989792823792 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "image_path": "generated_assets/manipuland/images/table_lamp_1777519295048.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_2", "position_2d": [ -0.03, -0.005 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, 0.0, 0.110023, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.01184952, "ixy": -2.110094e-12, "ixz": 1.30797e-18, "iyy": 0.01184952, "iyz": 7.573943e-19, "izz": 0.003033195 }, "collision_meshes": [ "table_lamp_collision_0.obj", "table_lamp_collision_1.obj", "table_lamp_collision_2.obj", "table_lamp_collision_3.obj", "table_lamp_collision_4.obj", "table_lamp_collision_5.obj", "table_lamp_collision_6.obj", "table_lamp_collision_7.obj", "table_lamp_collision_8.obj", "table_lamp_collision_9.obj", "table_lamp_collision_10.obj", "table_lamp_collision_11.obj", "table_lamp_collision_12.obj", "table_lamp_collision_13.obj", "table_lamp_collision_14.obj", "table_lamp_collision_15.obj", "table_lamp_collision_16.obj", "table_lamp_collision_17.obj", "table_lamp_collision_18.obj", "table_lamp_collision_19.obj", "table_lamp_collision_20.obj", "table_lamp_collision_21.obj", "table_lamp_collision_22.obj", "table_lamp_collision_23.obj", "table_lamp_collision_24.obj", "table_lamp_collision_25.obj", "table_lamp_collision_26.obj", "table_lamp_collision_27.obj", "table_lamp_collision_28.obj", "table_lamp_collision_29.obj", "table_lamp_collision_30.obj", "table_lamp_collision_31.obj", "table_lamp_collision_32.obj", "table_lamp_collision_33.obj", "table_lamp_collision_34.obj", "table_lamp_collision_35.obj", "table_lamp_collision_36.obj", "table_lamp_collision_37.obj", "table_lamp_collision_38.obj", "table_lamp_collision_39.obj", "table_lamp_collision_40.obj", "table_lamp_collision_41.obj", "table_lamp_collision_42.obj", "table_lamp_collision_43.obj", "table_lamp_collision_44.obj", "table_lamp_collision_45.obj", "table_lamp_collision_46.obj", "table_lamp_collision_47.obj", "table_lamp_collision_48.obj", "table_lamp_collision_49.obj", "table_lamp_collision_50.obj", "table_lamp_collision_51.obj", "table_lamp_collision_52.obj", "table_lamp_collision_53.obj", "table_lamp_collision_54.obj", "table_lamp_collision_55.obj", "table_lamp_collision_56.obj", "table_lamp_collision_57.obj", "table_lamp_collision_58.obj", "table_lamp_collision_59.obj", "table_lamp_collision_60.obj", "table_lamp_collision_61.obj", "table_lamp_collision_62.obj", "table_lamp_collision_63.obj" ], "collision_mesh_info": [ { "uri": "table_lamp_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "table_lamp.gltf" ], "visual_mesh_info": [ { "uri": "table_lamp.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "tv_remote_control_1", "room_id": "living_room", "name": "tv_remote_control", "description": "slim black TV remote control", "object_type": "manipuland", "transform": { "translation": [ 1.4826073037138496, -0.2662662154258606, 0.5909557159200421 ], "rotation_wxyz": [ 0.9936265480626381, -0.01680053754727074, 0.002266301605609273, 0.1114400681993752 ] }, "bbox_min": [ -0.02500000037252903, -0.08928568661212921, 0.0 ], "bbox_max": [ 0.02500000037252903, 0.08928568661212921, 0.008928568102419376 ], "scale_factor": 0.25, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "image_path": "generated_assets/manipuland/images/tv_remote_control_1777512194261.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_3", "position_2d": [ 0.085, 0.105 ], "rotation_2d": 0.3141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "physics": { "links": { "base_link": { "mass": 0.12, "inertia_pose": [ 4e-06, -0.00042525, 0.00388175, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003048704, "ixy": -3.557108e-08, "ixz": -1.694095e-09, "iyy": 2.372173e-05, "iyz": 1.657249e-07, "izz": 0.0003274276 }, "collision_meshes": [ "tv_remote_control_collision_0.obj", "tv_remote_control_collision_1.obj", "tv_remote_control_collision_2.obj", "tv_remote_control_collision_3.obj", "tv_remote_control_collision_4.obj", "tv_remote_control_collision_5.obj", "tv_remote_control_collision_6.obj", "tv_remote_control_collision_7.obj", "tv_remote_control_collision_8.obj", "tv_remote_control_collision_9.obj", "tv_remote_control_collision_10.obj", "tv_remote_control_collision_11.obj", "tv_remote_control_collision_12.obj", "tv_remote_control_collision_13.obj", "tv_remote_control_collision_14.obj", "tv_remote_control_collision_15.obj", "tv_remote_control_collision_16.obj", "tv_remote_control_collision_17.obj", "tv_remote_control_collision_18.obj", "tv_remote_control_collision_19.obj", "tv_remote_control_collision_20.obj", "tv_remote_control_collision_21.obj", "tv_remote_control_collision_22.obj", "tv_remote_control_collision_23.obj", "tv_remote_control_collision_24.obj", "tv_remote_control_collision_25.obj", "tv_remote_control_collision_26.obj", "tv_remote_control_collision_27.obj", "tv_remote_control_collision_28.obj", "tv_remote_control_collision_29.obj", "tv_remote_control_collision_30.obj", "tv_remote_control_collision_31.obj", "tv_remote_control_collision_32.obj", "tv_remote_control_collision_33.obj", "tv_remote_control_collision_34.obj", "tv_remote_control_collision_35.obj", "tv_remote_control_collision_36.obj", "tv_remote_control_collision_37.obj", "tv_remote_control_collision_38.obj", "tv_remote_control_collision_39.obj", "tv_remote_control_collision_40.obj", "tv_remote_control_collision_41.obj", "tv_remote_control_collision_42.obj", "tv_remote_control_collision_43.obj", "tv_remote_control_collision_44.obj", "tv_remote_control_collision_45.obj", "tv_remote_control_collision_46.obj", "tv_remote_control_collision_47.obj", "tv_remote_control_collision_48.obj", "tv_remote_control_collision_49.obj", "tv_remote_control_collision_50.obj", "tv_remote_control_collision_51.obj", "tv_remote_control_collision_52.obj", "tv_remote_control_collision_53.obj", "tv_remote_control_collision_54.obj", "tv_remote_control_collision_55.obj", "tv_remote_control_collision_56.obj", "tv_remote_control_collision_57.obj", "tv_remote_control_collision_58.obj", "tv_remote_control_collision_59.obj", "tv_remote_control_collision_60.obj", "tv_remote_control_collision_61.obj", "tv_remote_control_collision_62.obj", "tv_remote_control_collision_63.obj" ], "collision_mesh_info": [ { "uri": "tv_remote_control_collision_0.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_1.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_2.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_3.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_4.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_5.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_6.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_7.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_8.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_9.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_10.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_11.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_12.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_13.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_14.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_15.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_16.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_17.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_18.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_19.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_20.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_21.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_22.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_23.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_24.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_25.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_26.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_27.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_28.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_29.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_30.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_31.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_32.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_33.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_34.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_35.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_36.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_37.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_38.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_39.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_40.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_41.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_42.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_43.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_44.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_45.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_46.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_47.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_48.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_49.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_50.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_51.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_52.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_53.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_54.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_55.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_56.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_57.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_58.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_59.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_60.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_61.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_62.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_63.obj", "scale": [ 0.25, 0.25, 0.25 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "tv_remote_control.gltf" ], "visual_mesh_info": [ { "uri": "tv_remote_control.gltf", "scale": [ 0.25, 0.25, 0.25 ] } ] } } }, "visual_scale": [ 0.25, 0.25, 0.25 ] }, { "object_id": "table_lamp_1", "room_id": "living_room", "name": "table_lamp", "description": "small compact table lamp with simple fabric shade and narrow wooden base", "object_type": "manipuland", "transform": { "translation": [ 1.362336261653953, -0.3643061084877453, 0.5911589863693869 ], "rotation_wxyz": [ 0.9999952037509047, 0.0010995852911203634, -2.57818995212648e-05, -0.0028952931920593126 ] }, "bbox_min": [ -0.06499999761581421, -0.06499999761581421, 0.0 ], "bbox_max": [ 0.06499999761581421, 0.06499999761581421, 0.23102989792823792 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "image_path": "generated_assets/manipuland/images/table_lamp_1777519295048.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_3", "position_2d": [ -0.04, 0.0 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, 0.0, 0.110023, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.01184952, "ixy": -2.110094e-12, "ixz": 1.30797e-18, "iyy": 0.01184952, "iyz": 7.573943e-19, "izz": 0.003033195 }, "collision_meshes": [ "table_lamp_collision_0.obj", "table_lamp_collision_1.obj", "table_lamp_collision_2.obj", "table_lamp_collision_3.obj", "table_lamp_collision_4.obj", "table_lamp_collision_5.obj", "table_lamp_collision_6.obj", "table_lamp_collision_7.obj", "table_lamp_collision_8.obj", "table_lamp_collision_9.obj", "table_lamp_collision_10.obj", "table_lamp_collision_11.obj", "table_lamp_collision_12.obj", "table_lamp_collision_13.obj", "table_lamp_collision_14.obj", "table_lamp_collision_15.obj", "table_lamp_collision_16.obj", "table_lamp_collision_17.obj", "table_lamp_collision_18.obj", "table_lamp_collision_19.obj", "table_lamp_collision_20.obj", "table_lamp_collision_21.obj", "table_lamp_collision_22.obj", "table_lamp_collision_23.obj", "table_lamp_collision_24.obj", "table_lamp_collision_25.obj", "table_lamp_collision_26.obj", "table_lamp_collision_27.obj", "table_lamp_collision_28.obj", "table_lamp_collision_29.obj", "table_lamp_collision_30.obj", "table_lamp_collision_31.obj", "table_lamp_collision_32.obj", "table_lamp_collision_33.obj", "table_lamp_collision_34.obj", "table_lamp_collision_35.obj", "table_lamp_collision_36.obj", "table_lamp_collision_37.obj", "table_lamp_collision_38.obj", "table_lamp_collision_39.obj", "table_lamp_collision_40.obj", "table_lamp_collision_41.obj", "table_lamp_collision_42.obj", "table_lamp_collision_43.obj", "table_lamp_collision_44.obj", "table_lamp_collision_45.obj", "table_lamp_collision_46.obj", "table_lamp_collision_47.obj", "table_lamp_collision_48.obj", "table_lamp_collision_49.obj", "table_lamp_collision_50.obj", "table_lamp_collision_51.obj", "table_lamp_collision_52.obj", "table_lamp_collision_53.obj", "table_lamp_collision_54.obj", "table_lamp_collision_55.obj", "table_lamp_collision_56.obj", "table_lamp_collision_57.obj", "table_lamp_collision_58.obj", "table_lamp_collision_59.obj", "table_lamp_collision_60.obj", "table_lamp_collision_61.obj", "table_lamp_collision_62.obj", "table_lamp_collision_63.obj" ], "collision_mesh_info": [ { "uri": "table_lamp_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "table_lamp.gltf" ], "visual_mesh_info": [ { "uri": "table_lamp.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_1", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with neutral beige cover", "object_type": "manipuland", "transform": { "translation": [ -2.3159590140784654, -0.986509910773527, 0.5904207193373048 ], "rotation_wxyz": [ 0.9857165596307642, -0.01683492043020765, 0.0026305971556516332, 0.1675485884225921 ] }, "bbox_min": [ -0.06239999860525131, -0.0831972125172615, 0.0 ], "bbox_max": [ 0.06239999860525131, 0.0831972125172615, 0.024956371933221817 ], "scale_factor": 0.78, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777518764680.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_4", "position_2d": [ -0.09, 0.1 ], "rotation_2d": 0.3141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.8, "inertia_pose": [ 0.0020709, 0.0, 0.01247844, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.001756555, "ixy": 1.363618e-10, "ixz": -6.9508e-11, "iyy": 0.000987101, "iyz": -3.071051e-11, "izz": 0.002675401 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 0.78, 0.78, 0.78 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 0.78, 0.78, 0.78 ] } ] } } }, "visual_scale": [ 0.78, 0.78, 0.78 ] }, { "object_id": "table_lamp_2", "room_id": "living_room", "name": "table_lamp", "description": "small compact table lamp with simple fabric shade and narrow wooden base", "object_type": "manipuland", "transform": { "translation": [ -2.2041512775557943, -1.0854489427721465, 0.5911945978542195 ], "rotation_wxyz": [ 0.9998713464340676, 0.0011110120800825272, -3.283668363401649e-05, 0.016001723470767372 ] }, "bbox_min": [ -0.06499999761581421, -0.06499999761581421, 0.0 ], "bbox_max": [ 0.06499999761581421, 0.06499999761581421, 0.23102989792823792 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "image_path": "generated_assets/manipuland/images/table_lamp_1777519295048.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_4", "position_2d": [ 0.0, 0.0 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, 0.0, 0.110023, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.01184952, "ixy": -2.110094e-12, "ixz": 1.30797e-18, "iyy": 0.01184952, "iyz": 7.573943e-19, "izz": 0.003033195 }, "collision_meshes": [ "table_lamp_collision_0.obj", "table_lamp_collision_1.obj", "table_lamp_collision_2.obj", "table_lamp_collision_3.obj", "table_lamp_collision_4.obj", "table_lamp_collision_5.obj", "table_lamp_collision_6.obj", "table_lamp_collision_7.obj", "table_lamp_collision_8.obj", "table_lamp_collision_9.obj", "table_lamp_collision_10.obj", "table_lamp_collision_11.obj", "table_lamp_collision_12.obj", "table_lamp_collision_13.obj", "table_lamp_collision_14.obj", "table_lamp_collision_15.obj", "table_lamp_collision_16.obj", "table_lamp_collision_17.obj", "table_lamp_collision_18.obj", "table_lamp_collision_19.obj", "table_lamp_collision_20.obj", "table_lamp_collision_21.obj", "table_lamp_collision_22.obj", "table_lamp_collision_23.obj", "table_lamp_collision_24.obj", "table_lamp_collision_25.obj", "table_lamp_collision_26.obj", "table_lamp_collision_27.obj", "table_lamp_collision_28.obj", "table_lamp_collision_29.obj", "table_lamp_collision_30.obj", "table_lamp_collision_31.obj", "table_lamp_collision_32.obj", "table_lamp_collision_33.obj", "table_lamp_collision_34.obj", "table_lamp_collision_35.obj", "table_lamp_collision_36.obj", "table_lamp_collision_37.obj", "table_lamp_collision_38.obj", "table_lamp_collision_39.obj", "table_lamp_collision_40.obj", "table_lamp_collision_41.obj", "table_lamp_collision_42.obj", "table_lamp_collision_43.obj", "table_lamp_collision_44.obj", "table_lamp_collision_45.obj", "table_lamp_collision_46.obj", "table_lamp_collision_47.obj", "table_lamp_collision_48.obj", "table_lamp_collision_49.obj", "table_lamp_collision_50.obj", "table_lamp_collision_51.obj", "table_lamp_collision_52.obj", "table_lamp_collision_53.obj", "table_lamp_collision_54.obj", "table_lamp_collision_55.obj", "table_lamp_collision_56.obj", "table_lamp_collision_57.obj", "table_lamp_collision_58.obj", "table_lamp_collision_59.obj", "table_lamp_collision_60.obj", "table_lamp_collision_61.obj", "table_lamp_collision_62.obj", "table_lamp_collision_63.obj" ], "collision_mesh_info": [ { "uri": "table_lamp_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "table_lamp.gltf" ], "visual_mesh_info": [ { "uri": "table_lamp.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "table_lamp_3", "room_id": "living_room", "name": "table_lamp", "description": "small compact table lamp with simple fabric shade and narrow wooden base", "object_type": "manipuland", "transform": { "translation": [ 2.2144998649129612, -1.1719015508830153, 0.5911046192110518 ], "rotation_wxyz": [ 0.9987896033009727, 0.0010964991783008393, -6.87043315753839e-05, 0.04917439686617685 ] }, "bbox_min": [ -0.06499999761581421, -0.06499999761581421, 0.0 ], "bbox_max": [ 0.06499999761581421, 0.06499999761581421, 0.23102989792823792 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path": "generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "image_path": "generated_assets/manipuland/images/table_lamp_1777519295048.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_5", "position_2d": [ -0.04, -0.04 ], "rotation_2d": 0.17453292519943295, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/table_lamp_1777519295048/table_lamp.sdf", "physics": { "links": { "base_link": { "mass": 1.8, "inertia_pose": [ 0.0, 0.0, 0.110023, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.01184952, "ixy": -2.110094e-12, "ixz": 1.30797e-18, "iyy": 0.01184952, "iyz": 7.573943e-19, "izz": 0.003033195 }, "collision_meshes": [ "table_lamp_collision_0.obj", "table_lamp_collision_1.obj", "table_lamp_collision_2.obj", "table_lamp_collision_3.obj", "table_lamp_collision_4.obj", "table_lamp_collision_5.obj", "table_lamp_collision_6.obj", "table_lamp_collision_7.obj", "table_lamp_collision_8.obj", "table_lamp_collision_9.obj", "table_lamp_collision_10.obj", "table_lamp_collision_11.obj", "table_lamp_collision_12.obj", "table_lamp_collision_13.obj", "table_lamp_collision_14.obj", "table_lamp_collision_15.obj", "table_lamp_collision_16.obj", "table_lamp_collision_17.obj", "table_lamp_collision_18.obj", "table_lamp_collision_19.obj", "table_lamp_collision_20.obj", "table_lamp_collision_21.obj", "table_lamp_collision_22.obj", "table_lamp_collision_23.obj", "table_lamp_collision_24.obj", "table_lamp_collision_25.obj", "table_lamp_collision_26.obj", "table_lamp_collision_27.obj", "table_lamp_collision_28.obj", "table_lamp_collision_29.obj", "table_lamp_collision_30.obj", "table_lamp_collision_31.obj", "table_lamp_collision_32.obj", "table_lamp_collision_33.obj", "table_lamp_collision_34.obj", "table_lamp_collision_35.obj", "table_lamp_collision_36.obj", "table_lamp_collision_37.obj", "table_lamp_collision_38.obj", "table_lamp_collision_39.obj", "table_lamp_collision_40.obj", "table_lamp_collision_41.obj", "table_lamp_collision_42.obj", "table_lamp_collision_43.obj", "table_lamp_collision_44.obj", "table_lamp_collision_45.obj", "table_lamp_collision_46.obj", "table_lamp_collision_47.obj", "table_lamp_collision_48.obj", "table_lamp_collision_49.obj", "table_lamp_collision_50.obj", "table_lamp_collision_51.obj", "table_lamp_collision_52.obj", "table_lamp_collision_53.obj", "table_lamp_collision_54.obj", "table_lamp_collision_55.obj", "table_lamp_collision_56.obj", "table_lamp_collision_57.obj", "table_lamp_collision_58.obj", "table_lamp_collision_59.obj", "table_lamp_collision_60.obj", "table_lamp_collision_61.obj", "table_lamp_collision_62.obj", "table_lamp_collision_63.obj" ], "collision_mesh_info": [ { "uri": "table_lamp_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "table_lamp_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.4, "mu2": 0.4 }, "visual_meshes": [ "table_lamp.gltf" ], "visual_mesh_info": [ { "uri": "table_lamp.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "cup_centerpiece_1", "room_id": "living_room", "name": "cup_centerpiece", "description": "small ceramic cup centerpiece", "object_type": "manipuland", "transform": { "translation": [ 2.2997863552609683, -1.179740147930999, 0.5910816675428158 ], "rotation_wxyz": [ 0.9865708036109884, 0.0023498788133107396, -0.0008192522663220351, 0.16331520553106965 ] }, "bbox_min": [ -0.04720229655504227, -0.047280918806791306, 0.0 ], "bbox_max": [ 0.04742652177810669, 0.04750511795282364, 0.09000000357627869 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.glb", "sdf_path": "generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.sdf", "image_path": "generated_assets/manipuland/images/cup_centerpiece_1777509054211.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_5", "position_2d": [ 0.06, -0.03 ], "rotation_2d": 0.3141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/cup_centerpiece_1777509054211/cup_centerpiece.sdf", "physics": { "links": { "base_link": { "mass": 0.7, "inertia_pose": [ 0.000102, 4.3e-05, 0.032258, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0009515872, "ixy": -8.460297e-08, "ixz": 2.062091e-07, "iyy": 0.0009514265, "iyz": -4.889645e-07, "izz": 0.0009240897 }, "collision_meshes": [ "cup_centerpiece_collision_0.obj", "cup_centerpiece_collision_1.obj", "cup_centerpiece_collision_2.obj", "cup_centerpiece_collision_3.obj", "cup_centerpiece_collision_4.obj", "cup_centerpiece_collision_5.obj", "cup_centerpiece_collision_6.obj", "cup_centerpiece_collision_7.obj", "cup_centerpiece_collision_8.obj", "cup_centerpiece_collision_9.obj", "cup_centerpiece_collision_10.obj", "cup_centerpiece_collision_11.obj", "cup_centerpiece_collision_12.obj", "cup_centerpiece_collision_13.obj", "cup_centerpiece_collision_14.obj", "cup_centerpiece_collision_15.obj", "cup_centerpiece_collision_16.obj", "cup_centerpiece_collision_17.obj", "cup_centerpiece_collision_18.obj", "cup_centerpiece_collision_19.obj", "cup_centerpiece_collision_20.obj", "cup_centerpiece_collision_21.obj", "cup_centerpiece_collision_22.obj", "cup_centerpiece_collision_23.obj", "cup_centerpiece_collision_24.obj", "cup_centerpiece_collision_25.obj", "cup_centerpiece_collision_26.obj", "cup_centerpiece_collision_27.obj", "cup_centerpiece_collision_28.obj", "cup_centerpiece_collision_29.obj", "cup_centerpiece_collision_30.obj", "cup_centerpiece_collision_31.obj", "cup_centerpiece_collision_32.obj", "cup_centerpiece_collision_33.obj", "cup_centerpiece_collision_34.obj", "cup_centerpiece_collision_35.obj", "cup_centerpiece_collision_36.obj", "cup_centerpiece_collision_37.obj", "cup_centerpiece_collision_38.obj", "cup_centerpiece_collision_39.obj", "cup_centerpiece_collision_40.obj", "cup_centerpiece_collision_41.obj", "cup_centerpiece_collision_42.obj", "cup_centerpiece_collision_43.obj", "cup_centerpiece_collision_44.obj", "cup_centerpiece_collision_45.obj", "cup_centerpiece_collision_46.obj", "cup_centerpiece_collision_47.obj", "cup_centerpiece_collision_48.obj", "cup_centerpiece_collision_49.obj", "cup_centerpiece_collision_50.obj", "cup_centerpiece_collision_51.obj", "cup_centerpiece_collision_52.obj", "cup_centerpiece_collision_53.obj", "cup_centerpiece_collision_54.obj", "cup_centerpiece_collision_55.obj", "cup_centerpiece_collision_56.obj", "cup_centerpiece_collision_57.obj", "cup_centerpiece_collision_58.obj", "cup_centerpiece_collision_59.obj", "cup_centerpiece_collision_60.obj", "cup_centerpiece_collision_61.obj", "cup_centerpiece_collision_62.obj", "cup_centerpiece_collision_63.obj" ], "collision_mesh_info": [ { "uri": "cup_centerpiece_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "cup_centerpiece_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "cup_centerpiece.gltf" ], "visual_mesh_info": [ { "uri": "cup_centerpiece.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_4", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with muted rust spine lying flat", "object_type": "manipuland", "transform": { "translation": [ -0.5296312059338694, -2.4598962615701505, 0.21515380620558455 ], "rotation_wxyz": [ 0.7066718625840372, 0.002169385738347982, 0.0005481586138996471, 0.7075378943347557 ] }, "bbox_min": [ -0.06343496590852737, -0.01804264448583126, -0.026984969154000282 ], "bbox_max": [ 0.06656503677368164, 0.018042638897895813, 0.06620032340288162 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777529489158.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_7", "position_2d": [ -0.55, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.9, "inertia_pose": [ 0.001565, 2e-06, 0.017763, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.000668945, "ixy": 4.833545e-11, "ixz": -1.380855e-11, "iyy": 0.001756169, "iyz": -5.344133e-10, "izz": 0.001264615 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_5", "room_id": "living_room", "name": "hardcover_book", "description": "hardcover book with warm brown spine", "object_type": "manipuland", "transform": { "translation": [ -0.36829140056951104, -2.45886859202352, 0.18801800029592464 ], "rotation_wxyz": [ 0.706116728268945, -0.000216150501623502, 0.001765296429926622, 0.7080932163678989 ] }, "bbox_min": [ -0.07349999994039536, -0.01679999940097332, 0.0 ], "bbox_max": [ 0.07349999994039536, 0.01679999940097332, 0.20999999344348907 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777525046128/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777525046128/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777525046128.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_7", "position_2d": [ -0.39, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777525046128/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777525046128/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.7, "inertia_pose": [ -0.000775, -0.0, 0.105, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.002631062, "ixy": 6.059991e-18, "ixz": 5.580023e-13, "iyy": 0.003846934, "iyz": -8.612985e-17, "izz": 0.001334918 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_6", "room_id": "living_room", "name": "hardcover_book", "description": "hardcover book with dark charcoal spine", "object_type": "manipuland", "transform": { "translation": [ 0.5216144877775047, -2.460974322870466, 0.18706372289583809 ], "rotation_wxyz": [ 0.6704768162952279, 0.0018069744025231368, 0.0003086781746395333, 0.7419282164548726 ] }, "bbox_min": [ -0.07000000029802322, -0.015000006183981895, 0.0 ], "bbox_max": [ 0.07000000029802322, 0.015000006183981895, 0.20000000298023224 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777527183896/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777527183896/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777527183896.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_7", "position_2d": [ 0.5, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777527183896/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777527183896/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.8, "inertia_pose": [ -1.3e-05, 0.0, 0.1, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.002725354, "ixy": -1.052412e-10, "ixz": 6.695953e-13, "iyy": 0.003971285, "iyz": 5.490618e-14, "izz": 0.001365785 }, "collision_meshes": [ "hardcover_book_collision_0.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "tv_remote_control_2", "room_id": "living_room", "name": "tv_remote_control", "description": "slim black TV remote control", "object_type": "manipuland", "transform": { "translation": [ 0.579299499110524, -2.2443686807765704, 0.7705661668210884 ], "rotation_wxyz": [ 0.9999994348626805, 0.0003890963007646272, 0.00034326069082371834, 0.0009279280610925321 ] }, "bbox_min": [ -0.02500000037252903, -0.08928568661212921, 0.0 ], "bbox_max": [ 0.02500000037252903, 0.08928568661212921, 0.008928568102419376 ], "scale_factor": 0.25, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path": "generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "image_path": "generated_assets/manipuland/images/tv_remote_control_1777512194261.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_6", "position_2d": [ 0.56, 0.2 ], "rotation_2d": 0.0, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1777512194261/tv_remote_control.sdf", "physics": { "links": { "base_link": { "mass": 0.12, "inertia_pose": [ 4e-06, -0.00042525, 0.00388175, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.0003048704, "ixy": -3.557108e-08, "ixz": -1.694095e-09, "iyy": 2.372173e-05, "iyz": 1.657249e-07, "izz": 0.0003274276 }, "collision_meshes": [ "tv_remote_control_collision_0.obj", "tv_remote_control_collision_1.obj", "tv_remote_control_collision_2.obj", "tv_remote_control_collision_3.obj", "tv_remote_control_collision_4.obj", "tv_remote_control_collision_5.obj", "tv_remote_control_collision_6.obj", "tv_remote_control_collision_7.obj", "tv_remote_control_collision_8.obj", "tv_remote_control_collision_9.obj", "tv_remote_control_collision_10.obj", "tv_remote_control_collision_11.obj", "tv_remote_control_collision_12.obj", "tv_remote_control_collision_13.obj", "tv_remote_control_collision_14.obj", "tv_remote_control_collision_15.obj", "tv_remote_control_collision_16.obj", "tv_remote_control_collision_17.obj", "tv_remote_control_collision_18.obj", "tv_remote_control_collision_19.obj", "tv_remote_control_collision_20.obj", "tv_remote_control_collision_21.obj", "tv_remote_control_collision_22.obj", "tv_remote_control_collision_23.obj", "tv_remote_control_collision_24.obj", "tv_remote_control_collision_25.obj", "tv_remote_control_collision_26.obj", "tv_remote_control_collision_27.obj", "tv_remote_control_collision_28.obj", "tv_remote_control_collision_29.obj", "tv_remote_control_collision_30.obj", "tv_remote_control_collision_31.obj", "tv_remote_control_collision_32.obj", "tv_remote_control_collision_33.obj", "tv_remote_control_collision_34.obj", "tv_remote_control_collision_35.obj", "tv_remote_control_collision_36.obj", "tv_remote_control_collision_37.obj", "tv_remote_control_collision_38.obj", "tv_remote_control_collision_39.obj", "tv_remote_control_collision_40.obj", "tv_remote_control_collision_41.obj", "tv_remote_control_collision_42.obj", "tv_remote_control_collision_43.obj", "tv_remote_control_collision_44.obj", "tv_remote_control_collision_45.obj", "tv_remote_control_collision_46.obj", "tv_remote_control_collision_47.obj", "tv_remote_control_collision_48.obj", "tv_remote_control_collision_49.obj", "tv_remote_control_collision_50.obj", "tv_remote_control_collision_51.obj", "tv_remote_control_collision_52.obj", "tv_remote_control_collision_53.obj", "tv_remote_control_collision_54.obj", "tv_remote_control_collision_55.obj", "tv_remote_control_collision_56.obj", "tv_remote_control_collision_57.obj", "tv_remote_control_collision_58.obj", "tv_remote_control_collision_59.obj", "tv_remote_control_collision_60.obj", "tv_remote_control_collision_61.obj", "tv_remote_control_collision_62.obj", "tv_remote_control_collision_63.obj" ], "collision_mesh_info": [ { "uri": "tv_remote_control_collision_0.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_1.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_2.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_3.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_4.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_5.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_6.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_7.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_8.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_9.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_10.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_11.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_12.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_13.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_14.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_15.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_16.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_17.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_18.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_19.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_20.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_21.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_22.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_23.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_24.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_25.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_26.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_27.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_28.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_29.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_30.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_31.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_32.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_33.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_34.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_35.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_36.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_37.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_38.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_39.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_40.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_41.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_42.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_43.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_44.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_45.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_46.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_47.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_48.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_49.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_50.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_51.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_52.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_53.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_54.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_55.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_56.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_57.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_58.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_59.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_60.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_61.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_62.obj", "scale": [ 0.25, 0.25, 0.25 ] }, { "uri": "tv_remote_control_collision_63.obj", "scale": [ 0.25, 0.25, 0.25 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "tv_remote_control.gltf" ], "visual_mesh_info": [ { "uri": "tv_remote_control.gltf", "scale": [ 0.25, 0.25, 0.25 ] } ] } } }, "visual_scale": [ 0.25, 0.25, 0.25 ] }, { "object_id": "tv_0", "room_id": "living_room", "name": "tv", "description": "low-profile black flatscreen TV with very short central foot and thin bezel", "object_type": "manipuland", "transform": { "translation": [ 0.020800679360850206, -2.464084527487845, 0.7707531878072739 ], "rotation_wxyz": [ 0.00019877813310479196, 0.0003434057084155052, -0.0011443315693248754, 0.9999992665322474 ] }, "bbox_min": [ -0.375, -0.07500001788139343, 0.0 ], "bbox_max": [ 0.375, 0.07500001788139343, 0.4650000035762787 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/tv_1777544714383/tv.glb", "sdf_path": "generated_assets/manipuland/sdf/tv_1777544714383/tv.sdf", "image_path": "generated_assets/manipuland/images/tv_1777544714383.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_6", "position_2d": [ 0.0, -0.02 ], "rotation_2d": 3.141592653589793, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_1777544714383/tv.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/tv_1777544714383/tv.sdf", "physics": { "links": { "base_link": { "mass": 5.0, "inertia_pose": [ -0.0, 0.000642, 0.230763, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.09363247, "ixy": -1.865388e-08, "ixz": 4.012997e-11, "iyy": 0.3071647, "iyz": -7.784336e-05, "izz": 0.2156022 }, "collision_meshes": [ "tv_collision_0.obj", "tv_collision_1.obj", "tv_collision_2.obj", "tv_collision_3.obj", "tv_collision_4.obj", "tv_collision_5.obj", "tv_collision_6.obj", "tv_collision_7.obj", "tv_collision_8.obj", "tv_collision_9.obj", "tv_collision_10.obj", "tv_collision_11.obj", "tv_collision_12.obj", "tv_collision_13.obj", "tv_collision_14.obj", "tv_collision_15.obj", "tv_collision_16.obj", "tv_collision_17.obj", "tv_collision_18.obj", "tv_collision_19.obj", "tv_collision_20.obj", "tv_collision_21.obj", "tv_collision_22.obj", "tv_collision_23.obj", "tv_collision_24.obj", "tv_collision_25.obj", "tv_collision_26.obj", "tv_collision_27.obj", "tv_collision_28.obj", "tv_collision_29.obj", "tv_collision_30.obj", "tv_collision_31.obj", "tv_collision_32.obj", "tv_collision_33.obj", "tv_collision_34.obj", "tv_collision_35.obj", "tv_collision_36.obj", "tv_collision_37.obj", "tv_collision_38.obj", "tv_collision_39.obj", "tv_collision_40.obj", "tv_collision_41.obj", "tv_collision_42.obj", "tv_collision_43.obj", "tv_collision_44.obj", "tv_collision_45.obj", "tv_collision_46.obj", "tv_collision_47.obj", "tv_collision_48.obj", "tv_collision_49.obj", "tv_collision_50.obj", "tv_collision_51.obj", "tv_collision_52.obj", "tv_collision_53.obj", "tv_collision_54.obj", "tv_collision_55.obj", "tv_collision_56.obj", "tv_collision_57.obj", "tv_collision_58.obj", "tv_collision_59.obj", "tv_collision_60.obj", "tv_collision_61.obj", "tv_collision_62.obj", "tv_collision_63.obj" ], "collision_mesh_info": [ { "uri": "tv_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "tv_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.35, "mu2": 0.35 }, "visual_meshes": [ "tv.gltf" ], "visual_mesh_info": [ { "uri": "tv.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_2", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with muted rust spine lying flat", "object_type": "manipuland", "transform": { "translation": [ -0.5403860148218045, -2.4605103574386678, 0.5235202785974943 ], "rotation_wxyz": [ 0.7073798987421345, 0.0018519653211201356, 0.0008670681818415554, 0.7068306001248003 ] }, "bbox_min": [ -0.06343496590852737, -0.01804264448583126, -0.026984969154000282 ], "bbox_max": [ 0.06656503677368164, 0.018042638897895813, 0.06620032340288162 ], "scale_factor": 1.0, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777529489158.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_8", "position_2d": [ -0.56, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777529489158/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.9, "inertia_pose": [ 0.001565, 2e-06, 0.017763, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.000668945, "ixy": 4.833545e-11, "ixz": -1.380855e-11, "iyy": 0.001756169, "iyz": -5.344133e-10, "izz": 0.001264615 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 1.0, 1.0, 1.0 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 1.0, 1.0, 1.0 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 1.0, 1.0, 1.0 ] } ] } } }, "visual_scale": [ 1.0, 1.0, 1.0 ] }, { "object_id": "hardcover_book_3", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with neutral beige cover", "object_type": "manipuland", "transform": { "translation": [ -0.1787888343901864, -2.461614750601524, 0.4963346807912368 ], "rotation_wxyz": [ 0.706673032043006, 0.0010011984142052355, -0.0005120291514788012, 0.7075393707851374 ] }, "bbox_min": [ -0.06239999860525131, -0.0831972125172615, 0.0 ], "bbox_max": [ 0.06239999860525131, 0.0831972125172615, 0.024956371933221817 ], "scale_factor": 0.78, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777518764680.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_8", "position_2d": [ -0.2, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.8, "inertia_pose": [ 0.0020709, 0.0, 0.01247844, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.001756555, "ixy": 1.363618e-10, "ixz": -6.9508e-11, "iyy": 0.000987101, "iyz": -3.071051e-11, "izz": 0.002675401 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 0.78, 0.78, 0.78 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 0.78, 0.78, 0.78 ] } ] } } }, "visual_scale": [ 0.78, 0.78, 0.78 ] }, { "object_id": "hardcover_book_7", "room_id": "living_room", "name": "hardcover_book", "description": "small closed hardcover book with neutral beige cover", "object_type": "manipuland", "transform": { "translation": [ 0.040729708982488205, -2.459166830441374, 0.49618714563866007 ], "rotation_wxyz": [ 0.7073584312327325, 0.0009995901019335545, -0.0005136751702355742, 0.7068541481249263 ] }, "bbox_min": [ -0.06239999860525131, -0.0831972125172615, 0.0 ], "bbox_max": [ 0.06239999860525131, 0.0831972125172615, 0.024956371933221817 ], "scale_factor": 0.78, "immutable": false, "is_articulated": false, "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "image_path": "generated_assets/manipuland/images/hardcover_book_1777518764680.png", "support_surfaces": [], "placement_info": { "parent_surface_id": "S_8", "position_2d": [ 0.02, 0.0 ], "rotation_2d": 1.5707963267948966, "placement_method": "surface_placement" }, "geometry_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.glb", "sdf_path_resolved": "room_living_room/generated_assets/manipuland/sdf/hardcover_book_1777518764680/hardcover_book.sdf", "physics": { "links": { "base_link": { "mass": 0.8, "inertia_pose": [ 0.0020709, 0.0, 0.01247844, 0.0, 0.0, 0.0 ], "inertia": { "ixx": 0.001756555, "ixy": 1.363618e-10, "ixz": -6.9508e-11, "iyy": 0.000987101, "iyz": -3.071051e-11, "izz": 0.002675401 }, "collision_meshes": [ "hardcover_book_collision_0.obj", "hardcover_book_collision_1.obj", "hardcover_book_collision_2.obj", "hardcover_book_collision_3.obj", "hardcover_book_collision_4.obj", "hardcover_book_collision_5.obj", "hardcover_book_collision_6.obj", "hardcover_book_collision_7.obj", "hardcover_book_collision_8.obj", "hardcover_book_collision_9.obj", "hardcover_book_collision_10.obj", "hardcover_book_collision_11.obj", "hardcover_book_collision_12.obj", "hardcover_book_collision_13.obj", "hardcover_book_collision_14.obj", "hardcover_book_collision_15.obj", "hardcover_book_collision_16.obj", "hardcover_book_collision_17.obj", "hardcover_book_collision_18.obj", "hardcover_book_collision_19.obj", "hardcover_book_collision_20.obj", "hardcover_book_collision_21.obj", "hardcover_book_collision_22.obj", "hardcover_book_collision_23.obj", "hardcover_book_collision_24.obj", "hardcover_book_collision_25.obj", "hardcover_book_collision_26.obj", "hardcover_book_collision_27.obj", "hardcover_book_collision_28.obj", "hardcover_book_collision_29.obj", "hardcover_book_collision_30.obj", "hardcover_book_collision_31.obj", "hardcover_book_collision_32.obj", "hardcover_book_collision_33.obj", "hardcover_book_collision_34.obj", "hardcover_book_collision_35.obj", "hardcover_book_collision_36.obj", "hardcover_book_collision_37.obj", "hardcover_book_collision_38.obj", "hardcover_book_collision_39.obj", "hardcover_book_collision_40.obj", "hardcover_book_collision_41.obj", "hardcover_book_collision_42.obj", "hardcover_book_collision_43.obj", "hardcover_book_collision_44.obj", "hardcover_book_collision_45.obj", "hardcover_book_collision_46.obj", "hardcover_book_collision_47.obj", "hardcover_book_collision_48.obj", "hardcover_book_collision_49.obj", "hardcover_book_collision_50.obj", "hardcover_book_collision_51.obj", "hardcover_book_collision_52.obj", "hardcover_book_collision_53.obj", "hardcover_book_collision_54.obj", "hardcover_book_collision_55.obj", "hardcover_book_collision_56.obj", "hardcover_book_collision_57.obj", "hardcover_book_collision_58.obj", "hardcover_book_collision_59.obj", "hardcover_book_collision_60.obj", "hardcover_book_collision_61.obj", "hardcover_book_collision_62.obj", "hardcover_book_collision_63.obj" ], "collision_mesh_info": [ { "uri": "hardcover_book_collision_0.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_1.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_2.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_3.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_4.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_5.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_6.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_7.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_8.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_9.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_10.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_11.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_12.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_13.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_14.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_15.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_16.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_17.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_18.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_19.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_20.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_21.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_22.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_23.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_24.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_25.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_26.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_27.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_28.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_29.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_30.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_31.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_32.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_33.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_34.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_35.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_36.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_37.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_38.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_39.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_40.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_41.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_42.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_43.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_44.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_45.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_46.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_47.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_48.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_49.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_50.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_51.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_52.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_53.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_54.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_55.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_56.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_57.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_58.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_59.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_60.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_61.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_62.obj", "scale": [ 0.78, 0.78, 0.78 ] }, { "uri": "hardcover_book_collision_63.obj", "scale": [ 0.78, 0.78, 0.78 ] } ], "friction": { "mu": 0.32, "mu2": 0.32 }, "visual_meshes": [ "hardcover_book.gltf" ], "visual_mesh_info": [ { "uri": "hardcover_book.gltf", "scale": [ 0.78, 0.78, 0.78 ] } ] } } }, "visual_scale": [ 0.78, 0.78, 0.78 ] }, { "object_id": "window_1", "room_id": "living_room", "name": "window_1", "description": "Room geometry window_1", "object_type": "window", "transform": { "translation": [ -1.2777131265874955, 2.775, 1.6 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, 0.0 ] }, "bbox_min": null, "bbox_max": null, "scale_factor": 1, "immutable": true, "is_articulated": false, "geometry_path": "floor_plans/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": "window_2", "room_id": "living_room", "name": "window_2", "description": "Room geometry window_2", "object_type": "window", "transform": { "translation": [ 1.6903690898963033, 2.775, 1.6 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, 0.0 ] }, "bbox_min": null, "bbox_max": null, "scale_factor": 1, "immutable": true, "is_articulated": false, "geometry_path": "floor_plans/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": "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, 2.8249999999999997, 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, -2.8249999999999997, 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_3", "room_id": "living_room", "name": "window_3", "description": "Room geometry window_3", "object_type": "window", "transform": { "translation": [ 3.375, -0.872555613851361, 1.6 ], "rotation_wxyz": [ 1.0, 0.0, 0.0, 0.0 ] }, "bbox_min": null, "bbox_max": null, "scale_factor": 1, "immutable": true, "is_articulated": false, "geometry_path": "floor_plans/living_room/windows/window_3/window.gltf", "support_surfaces": [], "placement_info": null, "visual_scale": [ 1.0, 1.0, 1.0 ], "geometry_path_resolved": "floor_plans/living_room/windows/window_3/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": [ 3.425, 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": [ -3.425, 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": [ -3.4, -2.8, -0.1 ], "bbox_max": [ 3.4, 2.8, 0.0 ], "scale_factor": 1.0, "immutable": true, "is_articulated": false, "geometry_path": "/mnt/petrelfs/songhan/puyi.wang/Code_Scene_workspace/outputs/scene_044/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" } ] }