{
  "scene_dir": "scene_094",
  "layout": {
    "wall_height": 2.7,
    "house_prompt": "A dining room with a circular table surrounded by six vintage chairs, and an old wooden ladder against the wall displaying plants and decorative jars."
  },
  "rooms": {
    "dining_room": {
      "room_id": "dining_room",
      "text_description": "A dining room with a circular table surrounded by six vintage chairs, and an old wooden ladder against the wall displaying plants and decorative jars.",
      "width": 4.8,
      "length": 5.4,
      "wall_height": 2.7,
      "offset": [
        2.7,
        2.4
      ]
    }
  },
  "objects": [
    {
      "object_id": "north_wall",
      "room_id": "dining_room",
      "name": "north_wall",
      "description": "Room north_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          2.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.7,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.7,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/north_wall/wall.gltf"
    },
    {
      "object_id": "south_wall",
      "room_id": "dining_room",
      "name": "south_wall",
      "description": "Room south_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          0.0,
          -2.375,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.7,
        -0.025,
        0.0
      ],
      "bbox_max": [
        2.7,
        0.025,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/south_wall/wall.gltf"
    },
    {
      "object_id": "east_wall",
      "room_id": "dining_room",
      "name": "east_wall",
      "description": "Room east_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          2.6750000000000003,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/east_wall/wall.gltf"
    },
    {
      "object_id": "west_wall",
      "room_id": "dining_room",
      "name": "west_wall",
      "description": "Room west_wall",
      "object_type": "wall",
      "transform": {
        "translation": [
          -2.6750000000000003,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          0.7071054825112363,
          0.0,
          0.0,
          0.7071080798594735
        ]
      },
      "bbox_min": [
        -0.025,
        -2.4,
        0.0
      ],
      "bbox_max": [
        0.025,
        2.4,
        2.7
      ],
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/west_wall/wall.gltf"
    },
    {
      "object_id": "dining_table_0",
      "room_id": "dining_room",
      "name": "dining_table",
      "description": "round vintage wooden dining table with pedestal base",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.048824711775485925,
          0.31300605577819013,
          -0.0021985478213282193
        ],
        "rotation_wxyz": [
          0.9999502017498416,
          -6.260027077183453e-06,
          1.8222227171086383e-07,
          -0.009979678413154046
        ]
      },
      "bbox_min": [
        -0.699999988079071,
        -0.699999988079071,
        0.0
      ],
      "bbox_max": [
        0.699999988079071,
        0.699999988079071,
        0.9800000190734863
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_table_1777552575238/dining_table.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_table_1777552575238/dining_table.sdf",
      "image_path": "generated_assets/furniture/images/dining_table_1777552575238.png",
      "support_surfaces": [
        {
          "surface_id": "S_0",
          "bounding_box_min": [
            -0.6870206594467163,
            -0.6870206594467163,
            0.01
          ],
          "bounding_box_max": [
            0.6870206594467163,
            0.6870206594467163,
            0.5
          ],
          "transform": {
            "translation": [
              0.048825196254279064,
              0.3130184464141307,
              0.9878014711745002
            ],
            "rotation_wxyz": [
              0.9999502017498416,
              -6.260027077183453e-06,
              1.8222227171086383e-07,
              -0.009979678413154046
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                0.6789746880531311,
                1.1446657311046678e-07,
                -0.010000000000000009
              ],
              [
                0.6870206594467163,
                1.1582302761474224e-07,
                -0.010000000000000009
              ],
              [
                0.6757052540779114,
                -0.06655087321996689,
                -0.010000000000000009
              ],
              [
                0.6837124824523926,
                -0.06733958423137665,
                -0.010000000000000009
              ],
              [
                0.6659283638000488,
                -0.13246126472949982,
                -0.010000000000000009
              ],
              [
                0.6738198399543762,
                -0.13403098285198212,
                -0.010000000000000009
              ],
              [
                0.6497383117675781,
                -0.19709573686122894,
                -0.010000000000000009
              ],
              [
                0.6574379205703735,
                -0.1994314193725586,
                -0.010000000000000009
              ],
              [
                0.6272907853126526,
                -0.25983232259750366,
                -0.010000000000000009
              ],
              [
                0.6347243785858154,
                -0.2629113793373108,
                -0.010000000000000009
              ],
              [
                0.5988022089004517,
                -0.3200664222240448,
                -0.010000000000000009
              ],
              [
                0.6058982014656067,
                -0.32385924458503723,
                -0.010000000000000009
              ],
              [
                0.5645469427108765,
                -0.3772178888320923,
                -0.010000000000000009
              ],
              [
                0.5712369680404663,
                -0.38168811798095703,
                -0.010000000000000009
              ],
              [
                0.5248546004295349,
                -0.43073686957359314,
                -0.010000000000000009
              ],
              [
                0.5310742259025574,
                -0.43584123253822327,
                -0.010000000000000009
              ],
              [
                0.4801076650619507,
                -0.48010748624801636,
                -0.010000000000000009
              ],
              [
                0.48579707741737366,
                -0.4857969284057617,
                -0.010000000000000009
              ],
              [
                0.43073704838752747,
                -0.5248544216156006,
                -0.010000000000000009
              ],
              [
                0.4358414113521576,
                -0.5310741066932678,
                -0.010000000000000009
              ],
              [
                0.3772181272506714,
                -0.5645468235015869,
                -0.010000000000000009
              ],
              [
                0.38168832659721375,
                -0.571236789226532,
                -0.010000000000000009
              ],
              [
                0.3200666010379791,
                -0.5988020896911621,
                -0.010000000000000009
              ],
              [
                0.32385945320129395,
                -0.6058980822563171,
                -0.010000000000000009
              ],
              [
                0.25983256101608276,
                -0.627290666103363,
                -0.010000000000000009
              ],
              [
                0.2629116177558899,
                -0.6347242593765259,
                -0.010000000000000009
              ],
              [
                0.19709594547748566,
                -0.6497382521629333,
                -0.010000000000000009
              ],
              [
                0.1994316428899765,
                -0.657437801361084,
                -0.010000000000000009
              ],
              [
                0.13246148824691772,
                -0.665928304195404,
                -0.010000000000000009
              ],
              [
                0.13403120636940002,
                -0.6738197803497314,
                -0.010000000000000009
              ],
              [
                0.0665511041879654,
                -0.6757051944732666,
                -0.010000000000000009
              ],
              [
                0.06733981519937515,
                -0.6837124824523926,
                -0.010000000000000009
              ],
              [
                1.1446657310747467e-07,
                -0.6789746880531311,
                -0.010000000000000009
              ],
              [
                1.1582302761175013e-07,
                -0.6870206594467163,
                -0.010000000000000009
              ],
              [
                -0.06655087321996689,
                -0.6757052540779114,
                -0.010000000000000009
              ],
              [
                -0.06733958423137665,
                -0.6837124824523926,
                -0.010000000000000009
              ],
              [
                -0.13246126472949982,
                -0.6659283638000488,
                -0.010000000000000009
              ],
              [
                -0.13403098285198212,
                -0.6738198399543762,
                -0.010000000000000009
              ],
              [
                -0.19709573686122894,
                -0.6497383117675781,
                -0.010000000000000009
              ],
              [
                -0.1994314193725586,
                -0.6574379205703735,
                -0.010000000000000009
              ],
              [
                -0.25983232259750366,
                -0.6272907853126526,
                -0.010000000000000009
              ],
              [
                -0.2629113793373108,
                -0.6347243785858154,
                -0.010000000000000009
              ],
              [
                -0.3200664222240448,
                -0.5988022089004517,
                -0.010000000000000009
              ],
              [
                -0.32385924458503723,
                -0.6058982014656067,
                -0.010000000000000009
              ],
              [
                -0.3772178888320923,
                -0.5645469427108765,
                -0.010000000000000009
              ],
              [
                -0.38168811798095703,
                -0.5712369680404663,
                -0.010000000000000009
              ],
              [
                -0.43073686957359314,
                -0.5248546004295349,
                -0.010000000000000009
              ],
              [
                -0.43584123253822327,
                -0.5310742259025574,
                -0.010000000000000009
              ],
              [
                -0.48010748624801636,
                -0.4801076650619507,
                -0.010000000000000009
              ],
              [
                -0.4857969284057617,
                -0.48579707741737366,
                -0.010000000000000009
              ],
              [
                -0.5248544216156006,
                -0.43073704838752747,
                -0.010000000000000009
              ],
              [
                -0.5310741066932678,
                -0.4358414113521576,
                -0.010000000000000009
              ],
              [
                -0.5645468235015869,
                -0.3772181272506714,
                -0.010000000000000009
              ],
              [
                -0.571236789226532,
                -0.38168832659721375,
                -0.010000000000000009
              ],
              [
                -0.5988020896911621,
                -0.3200666010379791,
                -0.010000000000000009
              ],
              [
                -0.6058980822563171,
                -0.32385945320129395,
                -0.010000000000000009
              ],
              [
                -0.627290666103363,
                -0.25983256101608276,
                -0.010000000000000009
              ],
              [
                -0.6347242593765259,
                -0.2629116177558899,
                -0.010000000000000009
              ],
              [
                -0.6497382521629333,
                -0.19709594547748566,
                -0.010000000000000009
              ],
              [
                -0.657437801361084,
                -0.1994316428899765,
                -0.010000000000000009
              ],
              [
                -0.665928304195404,
                -0.13246148824691772,
                -0.010000000000000009
              ],
              [
                -0.6738197803497314,
                -0.13403120636940002,
                -0.010000000000000009
              ],
              [
                -0.6757051944732666,
                -0.0665511041879654,
                -0.010000000000000009
              ],
              [
                -0.6837124824523926,
                -0.06733981519937515,
                -0.010000000000000009
              ],
              [
                -0.6789746880531311,
                -1.1446657310750211e-07,
                -0.010000000000000009
              ],
              [
                -0.6870206594467163,
                -1.1582302761177758e-07,
                -0.010000000000000009
              ],
              [
                -0.6757052540779114,
                0.06655087321996689,
                -0.010000000000000009
              ],
              [
                -0.6837124824523926,
                0.06733958423137665,
                -0.010000000000000009
              ],
              [
                -0.6659283638000488,
                0.13246126472949982,
                -0.010000000000000009
              ],
              [
                -0.6738198399543762,
                0.13403098285198212,
                -0.010000000000000009
              ],
              [
                -0.6497383117675781,
                0.19709573686122894,
                -0.010000000000000009
              ],
              [
                -0.6574379205703735,
                0.1994314193725586,
                -0.010000000000000009
              ],
              [
                -0.6272907853126526,
                0.25983232259750366,
                -0.010000000000000009
              ],
              [
                -0.6347243785858154,
                0.2629113793373108,
                -0.010000000000000009
              ],
              [
                -0.5988022089004517,
                0.3200664222240448,
                -0.010000000000000009
              ],
              [
                -0.6058982014656067,
                0.32385924458503723,
                -0.010000000000000009
              ],
              [
                -0.5645469427108765,
                0.3772178888320923,
                -0.010000000000000009
              ],
              [
                -0.5712369680404663,
                0.38168811798095703,
                -0.010000000000000009
              ],
              [
                -0.5248546004295349,
                0.43073686957359314,
                -0.010000000000000009
              ],
              [
                -0.5310742259025574,
                0.43584123253822327,
                -0.010000000000000009
              ],
              [
                -0.4801076650619507,
                0.48010748624801636,
                -0.010000000000000009
              ],
              [
                -0.48579707741737366,
                0.4857969284057617,
                -0.010000000000000009
              ],
              [
                -0.43073704838752747,
                0.5248544216156006,
                -0.010000000000000009
              ],
              [
                -0.4358414113521576,
                0.5310741066932678,
                -0.010000000000000009
              ],
              [
                -0.3772181272506714,
                0.5645468235015869,
                -0.010000000000000009
              ],
              [
                -0.38168832659721375,
                0.571236789226532,
                -0.010000000000000009
              ],
              [
                -0.3200666010379791,
                0.5988020896911621,
                -0.010000000000000009
              ],
              [
                -0.32385945320129395,
                0.6058980822563171,
                -0.010000000000000009
              ],
              [
                -0.25983256101608276,
                0.627290666103363,
                -0.010000000000000009
              ],
              [
                -0.2629116177558899,
                0.6347242593765259,
                -0.010000000000000009
              ],
              [
                -0.19709594547748566,
                0.6497382521629333,
                -0.010000000000000009
              ],
              [
                -0.1994316428899765,
                0.657437801361084,
                -0.010000000000000009
              ],
              [
                -0.13246148824691772,
                0.665928304195404,
                -0.010000000000000009
              ],
              [
                -0.13403120636940002,
                0.6738197803497314,
                -0.010000000000000009
              ],
              [
                -0.0665511041879654,
                0.6757051944732666,
                -0.010000000000000009
              ],
              [
                -0.06733981519937515,
                0.6837124824523926,
                -0.010000000000000009
              ],
              [
                -1.1446657311049423e-07,
                0.6789746880531311,
                -0.010000000000000009
              ],
              [
                -1.158230276147697e-07,
                0.6870206594467163,
                -0.010000000000000009
              ],
              [
                0.06655087321996689,
                0.6757052540779114,
                -0.010000000000000009
              ],
              [
                0.06733958423137665,
                0.6837124824523926,
                -0.010000000000000009
              ],
              [
                0.13246126472949982,
                0.6659283638000488,
                -0.010000000000000009
              ],
              [
                0.13403098285198212,
                0.6738198399543762,
                -0.010000000000000009
              ],
              [
                0.19709573686122894,
                0.6497383117675781,
                -0.010000000000000009
              ],
              [
                0.1994314193725586,
                0.6574379205703735,
                -0.010000000000000009
              ],
              [
                0.25983232259750366,
                0.6272907853126526,
                -0.010000000000000009
              ],
              [
                0.2629113793373108,
                0.6347243785858154,
                -0.010000000000000009
              ],
              [
                0.3200664222240448,
                0.5988022089004517,
                -0.010000000000000009
              ],
              [
                0.32385924458503723,
                0.6058982014656067,
                -0.010000000000000009
              ],
              [
                0.3772178888320923,
                0.5645469427108765,
                -0.010000000000000009
              ],
              [
                0.38168811798095703,
                0.5712369680404663,
                -0.010000000000000009
              ],
              [
                0.43073686957359314,
                0.5248546004295349,
                -0.010000000000000009
              ],
              [
                0.43584123253822327,
                0.5310742259025574,
                -0.010000000000000009
              ],
              [
                0.48010748624801636,
                0.4801076650619507,
                -0.010000000000000009
              ],
              [
                0.4857969284057617,
                0.48579707741737366,
                -0.010000000000000009
              ],
              [
                0.5248544216156006,
                0.43073704838752747,
                -0.010000000000000009
              ],
              [
                0.5310741066932678,
                0.4358414113521576,
                -0.010000000000000009
              ],
              [
                0.5645468235015869,
                0.3772181272506714,
                -0.010000000000000009
              ],
              [
                0.571236789226532,
                0.38168832659721375,
                -0.010000000000000009
              ],
              [
                0.5988020896911621,
                0.3200666010379791,
                -0.010000000000000009
              ],
              [
                0.6058980822563171,
                0.32385945320129395,
                -0.010000000000000009
              ],
              [
                0.627290666103363,
                0.25983256101608276,
                -0.010000000000000009
              ],
              [
                0.6347242593765259,
                0.2629116177558899,
                -0.010000000000000009
              ],
              [
                0.6497382521629333,
                0.19709594547748566,
                -0.010000000000000009
              ],
              [
                0.657437801361084,
                0.1994316428899765,
                -0.010000000000000009
              ],
              [
                0.665928304195404,
                0.13246148824691772,
                -0.010000000000000009
              ],
              [
                0.6738197803497314,
                0.13403120636940002,
                -0.010000000000000009
              ],
              [
                0.6757051944732666,
                0.0665511041879654,
                -0.010000000000000009
              ],
              [
                0.6837124824523926,
                0.06733981519937515,
                -0.010000000000000009
              ]
            ],
            "faces": [
              [
                41,
                38,
                40
              ],
              [
                107,
                105,
                104
              ],
              [
                107,
                104,
                106
              ],
              [
                43,
                40,
                42
              ],
              [
                43,
                41,
                40
              ],
              [
                109,
                107,
                106
              ],
              [
                109,
                106,
                108
              ],
              [
                45,
                42,
                44
              ],
              [
                45,
                43,
                42
              ],
              [
                111,
                109,
                108
              ],
              [
                111,
                108,
                110
              ],
              [
                47,
                44,
                46
              ],
              [
                47,
                45,
                44
              ],
              [
                113,
                111,
                110
              ],
              [
                113,
                110,
                112
              ],
              [
                49,
                46,
                48
              ],
              [
                49,
                47,
                46
              ],
              [
                115,
                113,
                112
              ],
              [
                115,
                112,
                114
              ],
              [
                51,
                48,
                50
              ],
              [
                51,
                49,
                48
              ],
              [
                117,
                115,
                114
              ],
              [
                117,
                114,
                116
              ],
              [
                53,
                50,
                52
              ],
              [
                53,
                51,
                50
              ],
              [
                119,
                117,
                116
              ],
              [
                119,
                116,
                118
              ],
              [
                55,
                52,
                54
              ],
              [
                55,
                53,
                52
              ],
              [
                121,
                119,
                118
              ],
              [
                121,
                118,
                120
              ],
              [
                4,
                2,
                0
              ],
              [
                0,
                126,
                124
              ],
              [
                124,
                122,
                120
              ],
              [
                120,
                118,
                116
              ],
              [
                116,
                114,
                112
              ],
              [
                112,
                110,
                108
              ],
              [
                108,
                106,
                104
              ],
              [
                104,
                102,
                100
              ],
              [
                100,
                98,
                96
              ],
              [
                96,
                94,
                92
              ],
              [
                92,
                90,
                88
              ],
              [
                88,
                86,
                84
              ],
              [
                84,
                82,
                80
              ],
              [
                80,
                78,
                76
              ],
              [
                76,
                74,
                72
              ],
              [
                72,
                70,
                68
              ],
              [
                68,
                66,
                64
              ],
              [
                64,
                62,
                60
              ],
              [
                60,
                58,
                56
              ],
              [
                56,
                54,
                52
              ],
              [
                52,
                50,
                48
              ],
              [
                48,
                46,
                44
              ],
              [
                44,
                42,
                40
              ],
              [
                40,
                38,
                36
              ],
              [
                36,
                34,
                32
              ],
              [
                32,
                30,
                28
              ],
              [
                28,
                26,
                24
              ],
              [
                24,
                22,
                20
              ],
              [
                20,
                18,
                16
              ],
              [
                16,
                14,
                12
              ],
              [
                12,
                10,
                8
              ],
              [
                8,
                6,
                4
              ],
              [
                4,
                0,
                124
              ],
              [
                124,
                120,
                116
              ],
              [
                116,
                112,
                108
              ],
              [
                108,
                104,
                100
              ],
              [
                100,
                96,
                92
              ],
              [
                92,
                88,
                84
              ],
              [
                84,
                80,
                76
              ],
              [
                76,
                72,
                68
              ],
              [
                68,
                64,
                60
              ],
              [
                60,
                56,
                52
              ],
              [
                52,
                48,
                44
              ],
              [
                44,
                40,
                36
              ],
              [
                36,
                32,
                28
              ],
              [
                28,
                24,
                20
              ],
              [
                20,
                16,
                12
              ],
              [
                12,
                8,
                4
              ],
              [
                4,
                124,
                116
              ],
              [
                116,
                108,
                100
              ],
              [
                100,
                92,
                84
              ],
              [
                84,
                76,
                68
              ],
              [
                68,
                60,
                52
              ],
              [
                52,
                44,
                36
              ],
              [
                36,
                28,
                20
              ],
              [
                20,
                12,
                4
              ],
              [
                4,
                116,
                100
              ],
              [
                100,
                84,
                68
              ],
              [
                68,
                52,
                36
              ],
              [
                36,
                20,
                4
              ],
              [
                4,
                100,
                68
              ],
              [
                68,
                36,
                4
              ],
              [
                1,
                127,
                126
              ],
              [
                1,
                126,
                0
              ],
              [
                65,
                62,
                64
              ],
              [
                65,
                63,
                62
              ],
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ],
              [
                67,
                64,
                66
              ],
              [
                67,
                65,
                64
              ],
              [
                59,
                57,
                56
              ],
              [
                59,
                56,
                58
              ],
              [
                5,
                3,
                2
              ],
              [
                5,
                2,
                4
              ],
              [
                69,
                66,
                68
              ],
              [
                69,
                67,
                66
              ],
              [
                123,
                121,
                120
              ],
              [
                123,
                120,
                122
              ],
              [
                7,
                5,
                4
              ],
              [
                71,
                68,
                70
              ],
              [
                7,
                4,
                6
              ],
              [
                71,
                69,
                68
              ],
              [
                73,
                71,
                70
              ],
              [
                73,
                70,
                72
              ],
              [
                9,
                6,
                8
              ],
              [
                9,
                7,
                6
              ],
              [
                57,
                54,
                56
              ],
              [
                75,
                73,
                72
              ],
              [
                75,
                72,
                74
              ],
              [
                11,
                8,
                10
              ],
              [
                11,
                9,
                8
              ],
              [
                77,
                75,
                74
              ],
              [
                77,
                74,
                76
              ],
              [
                13,
                10,
                12
              ],
              [
                13,
                11,
                10
              ],
              [
                57,
                55,
                54
              ],
              [
                61,
                59,
                58
              ],
              [
                61,
                58,
                60
              ],
              [
                79,
                77,
                76
              ],
              [
                79,
                76,
                78
              ],
              [
                15,
                12,
                14
              ],
              [
                15,
                13,
                12
              ],
              [
                125,
                123,
                122
              ],
              [
                125,
                122,
                124
              ],
              [
                81,
                79,
                78
              ],
              [
                81,
                78,
                80
              ],
              [
                17,
                14,
                16
              ],
              [
                17,
                15,
                14
              ],
              [
                83,
                81,
                80
              ],
              [
                83,
                80,
                82
              ],
              [
                19,
                16,
                18
              ],
              [
                19,
                17,
                16
              ],
              [
                85,
                83,
                82
              ],
              [
                85,
                82,
                84
              ],
              [
                21,
                18,
                20
              ],
              [
                21,
                19,
                18
              ],
              [
                87,
                85,
                84
              ],
              [
                87,
                84,
                86
              ],
              [
                23,
                20,
                22
              ],
              [
                23,
                21,
                20
              ],
              [
                63,
                61,
                60
              ],
              [
                63,
                60,
                62
              ],
              [
                89,
                87,
                86
              ],
              [
                89,
                86,
                88
              ],
              [
                25,
                22,
                24
              ],
              [
                25,
                23,
                22
              ],
              [
                127,
                125,
                124
              ],
              [
                127,
                124,
                126
              ],
              [
                91,
                89,
                88
              ],
              [
                91,
                88,
                90
              ],
              [
                27,
                24,
                26
              ],
              [
                27,
                25,
                24
              ],
              [
                93,
                91,
                90
              ],
              [
                93,
                90,
                92
              ],
              [
                29,
                26,
                28
              ],
              [
                29,
                27,
                26
              ],
              [
                95,
                93,
                92
              ],
              [
                95,
                92,
                94
              ],
              [
                31,
                28,
                30
              ],
              [
                31,
                29,
                28
              ],
              [
                97,
                95,
                94
              ],
              [
                97,
                94,
                96
              ],
              [
                33,
                30,
                32
              ],
              [
                33,
                31,
                30
              ],
              [
                99,
                97,
                96
              ],
              [
                99,
                96,
                98
              ],
              [
                35,
                32,
                34
              ],
              [
                35,
                33,
                32
              ],
              [
                101,
                99,
                98
              ],
              [
                101,
                98,
                100
              ],
              [
                37,
                34,
                36
              ],
              [
                37,
                35,
                34
              ],
              [
                103,
                101,
                100
              ],
              [
                103,
                100,
                102
              ],
              [
                39,
                36,
                38
              ],
              [
                39,
                37,
                36
              ],
              [
                41,
                39,
                38
              ],
              [
                105,
                103,
                102
              ],
              [
                105,
                102,
                104
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_table_1777552575238/dining_table.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_table_1777552575238/dining_table.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 18.0,
            "inertia_pose": [
              -0.0,
              -0.0,
              0.717574,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 3.738748,
              "ixy": -7.044475e-09,
              "ixz": -1.08536e-08,
              "iyy": 3.738748,
              "iyz": -1.228021e-08,
              "izz": 3.283631
            },
            "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": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.06856381122582546,
          0.8574610364599,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.00956550166965353,
          7.521479245694432e-09,
          -0.0006340753565797235,
          0.999954048507355
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.08756701849170768,
          -0.21531137161381075,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.99981661037514,
          -0.0006338138918172359,
          -1.820737262116477e-05,
          0.019140103615394047
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.8567777615831821,
          0.7723906623362758,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.47210149293739073,
          -0.0002939808374079786,
          -0.0005618067506849484,
          0.881543974124223
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          0.8156650994525901,
          -0.041084872673157274,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.8886671256666488,
          -0.0005606715097428677,
          -0.00029614019659770873,
          0.4585524372498948
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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_4",
      "room_id": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.46981728661486544,
          0.6531034113419667,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.5229446211364989,
          -0.0003367473832624338,
          0.0005372641415022783,
          -0.8523664242406818
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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_5",
      "room_id": "dining_room",
      "name": "dining_chair",
      "description": "vintage spindle-back dining chair with worn wood seat",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -0.49369369862494444,
          -0.019895057267881516,
          -0.0003200280261479674
        ],
        "rotation_wxyz": [
          0.8529387260216398,
          -0.0005439727830291372,
          0.0003257992774728202,
          -0.5220106585128546
        ]
      },
      "bbox_min": [
        -0.23999997973442078,
        -0.2636309564113617,
        -7.647438793334516e-10
      ],
      "bbox_max": [
        0.24000002443790436,
        0.21030916273593903,
        0.999484658241272
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path": "generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "image_path": "generated_assets/furniture/images/dining_chair_1777553408881.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/dining_chair_1777553408881/dining_chair.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.8,
            "inertia_pose": [
              -1.8e-05,
              -0.057577,
              0.490776,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.4079096,
              "ixy": 3.669695e-05,
              "ixz": -2.679417e-06,
              "iyy": 0.4071375,
              "iyz": 0.08500458,
              "izz": 0.2508845
            },
            "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": "ladder_shelf_0",
      "room_id": "dining_room",
      "name": "ladder_shelf",
      "description": "old rustic wooden leaning ladder shelf display",
      "object_type": "furniture",
      "transform": {
        "translation": [
          -2.2606945038111856,
          1.6103182565087466,
          -0.007217008081807533
        ],
        "rotation_wxyz": [
          0.7063043360034931,
          -0.006930372434237316,
          0.006924622173502436,
          -0.7078405219315587
        ]
      },
      "bbox_min": [
        -0.30800000667572025,
        -0.37018714427948,
        0.0
      ],
      "bbox_max": [
        0.30799997329711915,
        0.37018714427948,
        1.453594951629639
      ],
      "scale_factor": 1.12,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/furniture/sdf/ladder_shelf_1777555258237/ladder_shelf.glb",
      "sdf_path": "generated_assets/furniture/sdf/ladder_shelf_1777555258237/ladder_shelf.sdf",
      "image_path": "generated_assets/furniture/images/ladder_shelf_1777555258237.png",
      "support_surfaces": [
        {
          "surface_id": "S_1",
          "bounding_box_min": [
            -0.28,
            -0.25200000166893005,
            0.011200000000000002
          ],
          "bounding_box_max": [
            0.28,
            0.25200000166893005,
            0.07289663905072494
          ],
          "transform": {
            "translation": [
              -2.222662106373891,
              1.610243427514755,
              0.25758616405054335
            ],
            "rotation_wxyz": [
              0.7063043360034931,
              -0.006930372434237316,
              0.006924622173502436,
              -0.7078405219315587
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.28,
                -0.25200000166893005,
                -0.01120000000000001
              ],
              [
                -0.28,
                0.25200000166893005,
                -0.01120000000000001
              ],
              [
                0.28,
                -0.25200000166893005,
                -0.01120000000000001
              ],
              [
                0.28,
                0.25200000166893005,
                -0.01120000000000001
              ]
            ],
            "faces": [
              [
                3,
                1,
                0
              ],
              [
                3,
                0,
                2
              ]
            ]
          }
        },
        {
          "surface_id": "S_2",
          "bounding_box_min": [
            -0.27789723157882695,
            -0.20089722156524661,
            0.011200000000000002
          ],
          "bounding_box_max": [
            0.27789723157882695,
            0.20089722156524661,
            0.13607518585501363
          ],
          "transform": {
            "translation": [
              -2.2457192333451745,
              1.6103009423052232,
              0.5100863860897644
            ],
            "rotation_wxyz": [
              0.7063043360034931,
              -0.006930372434237316,
              0.006924622173502436,
              -0.7078405219315587
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.27579998731613165,
                -0.19879997730255128,
                -0.01120000000000001
              ],
              [
                -0.27789723157882695,
                -0.19879997730255128,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                -0.20089722156524661,
                -0.01120000000000001
              ],
              [
                -0.2778084778785706,
                -0.20080846786499026,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                0.19879997730255128,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                0.20089722156524661,
                -0.01120000000000001
              ],
              [
                -0.27789723157882695,
                0.19879997730255128,
                -0.01120000000000001
              ],
              [
                -0.2778084778785706,
                0.20080846786499026,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                -0.19879997730255128,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                -0.20089722156524661,
                -0.01120000000000001
              ],
              [
                0.27789723157882695,
                -0.19879997730255128,
                -0.01120000000000001
              ],
              [
                0.2778084778785706,
                -0.20080846786499026,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                0.19879997730255128,
                -0.01120000000000001
              ],
              [
                0.27789723157882695,
                0.19879997730255128,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                0.20089722156524661,
                -0.01120000000000001
              ],
              [
                0.2778084778785706,
                0.20080846786499026,
                -0.01120000000000001
              ]
            ],
            "faces": [
              [
                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
              ],
              [
                8,
                9,
                11
              ]
            ]
          }
        },
        {
          "surface_id": "S_3",
          "bounding_box_min": [
            -0.27789723157882695,
            -0.15189723908901215,
            0.011200000000000002
          ],
          "bounding_box_max": [
            0.27789723157882695,
            0.15189723908901215,
            0.17144310530582485
          ],
          "transform": {
            "translation": [
              -2.268776365156559,
              1.6103584571052265,
              0.7625865748388264
            ],
            "rotation_wxyz": [
              0.7063043360034931,
              -0.006930372434237316,
              0.006924622173502436,
              -0.7078405219315587
            ]
          },
          "link_name": null,
          "mesh": {
            "vertices": [
              [
                -0.27579998731613165,
                -0.1497999948117128,
                -0.01120000000000001
              ],
              [
                -0.27789723157882695,
                -0.1497999948117128,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                -0.15189723907440814,
                -0.01120000000000001
              ],
              [
                -0.2778084778785706,
                -0.15180848537415179,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                0.14979999484092088,
                -0.01120000000000001
              ],
              [
                -0.27579998731613165,
                0.1518972391036162,
                -0.01120000000000001
              ],
              [
                -0.27789723157882695,
                0.14979999484092088,
                -0.01120000000000001
              ],
              [
                -0.2778084778785706,
                0.1518084770587096,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                -0.1497999948117128,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                -0.15189723907440814,
                -0.01120000000000001
              ],
              [
                0.27789723157882695,
                -0.1497999948117128,
                -0.01120000000000001
              ],
              [
                0.2778084778785706,
                -0.15180848537415179,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                0.14979999484092088,
                -0.01120000000000001
              ],
              [
                0.27789723157882695,
                0.14979999484092088,
                -0.01120000000000001
              ],
              [
                0.27579998731613165,
                0.1518972391036162,
                -0.01120000000000001
              ],
              [
                0.2778084778785706,
                0.1518084770587096,
                -0.01120000000000001
              ]
            ],
            "faces": [
              [
                12,
                13,
                15
              ],
              [
                8,
                9,
                11
              ],
              [
                8,
                11,
                10
              ],
              [
                4,
                12,
                14
              ],
              [
                4,
                14,
                5
              ],
              [
                4,
                7,
                6
              ],
              [
                4,
                5,
                7
              ],
              [
                8,
                0,
                2
              ],
              [
                8,
                2,
                9
              ],
              [
                0,
                1,
                3
              ],
              [
                0,
                3,
                2
              ],
              [
                0,
                4,
                6
              ],
              [
                0,
                6,
                1
              ],
              [
                12,
                8,
                10
              ],
              [
                12,
                10,
                13
              ],
              [
                12,
                4,
                0
              ],
              [
                12,
                0,
                8
              ],
              [
                12,
                15,
                14
              ]
            ]
          }
        }
      ],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/furniture/sdf/ladder_shelf_1777555258237/ladder_shelf.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/furniture/sdf/ladder_shelf_1777555258237/ladder_shelf.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 8.5,
            "inertia_pose": [
              0.0,
              -0.0226856,
              0.6308624,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 1.309901,
              "ixy": 3.173893e-09,
              "ixz": 3.157083e-09,
              "iyy": 1.513112,
              "iyz": 0.05328122,
              "izz": 0.6173331
            },
            "collision_meshes": [
              "ladder_shelf_collision_0.obj",
              "ladder_shelf_collision_1.obj",
              "ladder_shelf_collision_2.obj",
              "ladder_shelf_collision_3.obj",
              "ladder_shelf_collision_4.obj",
              "ladder_shelf_collision_5.obj",
              "ladder_shelf_collision_6.obj",
              "ladder_shelf_collision_7.obj",
              "ladder_shelf_collision_8.obj",
              "ladder_shelf_collision_9.obj",
              "ladder_shelf_collision_10.obj",
              "ladder_shelf_collision_11.obj",
              "ladder_shelf_collision_12.obj",
              "ladder_shelf_collision_13.obj",
              "ladder_shelf_collision_14.obj",
              "ladder_shelf_collision_15.obj",
              "ladder_shelf_collision_16.obj",
              "ladder_shelf_collision_17.obj",
              "ladder_shelf_collision_18.obj",
              "ladder_shelf_collision_19.obj",
              "ladder_shelf_collision_20.obj",
              "ladder_shelf_collision_21.obj",
              "ladder_shelf_collision_22.obj",
              "ladder_shelf_collision_23.obj",
              "ladder_shelf_collision_24.obj",
              "ladder_shelf_collision_25.obj",
              "ladder_shelf_collision_26.obj",
              "ladder_shelf_collision_27.obj",
              "ladder_shelf_collision_28.obj",
              "ladder_shelf_collision_29.obj",
              "ladder_shelf_collision_30.obj",
              "ladder_shelf_collision_31.obj",
              "ladder_shelf_collision_32.obj",
              "ladder_shelf_collision_33.obj",
              "ladder_shelf_collision_34.obj",
              "ladder_shelf_collision_35.obj",
              "ladder_shelf_collision_36.obj",
              "ladder_shelf_collision_37.obj",
              "ladder_shelf_collision_38.obj",
              "ladder_shelf_collision_39.obj",
              "ladder_shelf_collision_40.obj",
              "ladder_shelf_collision_41.obj",
              "ladder_shelf_collision_42.obj",
              "ladder_shelf_collision_43.obj",
              "ladder_shelf_collision_44.obj",
              "ladder_shelf_collision_45.obj",
              "ladder_shelf_collision_46.obj",
              "ladder_shelf_collision_47.obj",
              "ladder_shelf_collision_48.obj",
              "ladder_shelf_collision_49.obj",
              "ladder_shelf_collision_50.obj",
              "ladder_shelf_collision_51.obj",
              "ladder_shelf_collision_52.obj",
              "ladder_shelf_collision_53.obj",
              "ladder_shelf_collision_54.obj",
              "ladder_shelf_collision_55.obj",
              "ladder_shelf_collision_56.obj",
              "ladder_shelf_collision_57.obj",
              "ladder_shelf_collision_58.obj",
              "ladder_shelf_collision_59.obj",
              "ladder_shelf_collision_60.obj",
              "ladder_shelf_collision_61.obj",
              "ladder_shelf_collision_62.obj",
              "ladder_shelf_collision_63.obj",
              "ladder_shelf_collision_64.obj",
              "ladder_shelf_collision_65.obj",
              "ladder_shelf_collision_66.obj",
              "ladder_shelf_collision_67.obj",
              "ladder_shelf_collision_68.obj",
              "ladder_shelf_collision_69.obj",
              "ladder_shelf_collision_70.obj",
              "ladder_shelf_collision_71.obj",
              "ladder_shelf_collision_72.obj",
              "ladder_shelf_collision_73.obj",
              "ladder_shelf_collision_74.obj",
              "ladder_shelf_collision_75.obj",
              "ladder_shelf_collision_76.obj",
              "ladder_shelf_collision_77.obj",
              "ladder_shelf_collision_78.obj",
              "ladder_shelf_collision_79.obj",
              "ladder_shelf_collision_80.obj",
              "ladder_shelf_collision_81.obj",
              "ladder_shelf_collision_82.obj",
              "ladder_shelf_collision_83.obj",
              "ladder_shelf_collision_84.obj",
              "ladder_shelf_collision_85.obj",
              "ladder_shelf_collision_86.obj",
              "ladder_shelf_collision_87.obj",
              "ladder_shelf_collision_88.obj",
              "ladder_shelf_collision_89.obj",
              "ladder_shelf_collision_90.obj",
              "ladder_shelf_collision_91.obj",
              "ladder_shelf_collision_92.obj",
              "ladder_shelf_collision_93.obj",
              "ladder_shelf_collision_94.obj",
              "ladder_shelf_collision_95.obj",
              "ladder_shelf_collision_96.obj",
              "ladder_shelf_collision_97.obj",
              "ladder_shelf_collision_98.obj",
              "ladder_shelf_collision_99.obj",
              "ladder_shelf_collision_100.obj",
              "ladder_shelf_collision_101.obj",
              "ladder_shelf_collision_102.obj",
              "ladder_shelf_collision_103.obj",
              "ladder_shelf_collision_104.obj",
              "ladder_shelf_collision_105.obj",
              "ladder_shelf_collision_106.obj",
              "ladder_shelf_collision_107.obj",
              "ladder_shelf_collision_108.obj",
              "ladder_shelf_collision_109.obj",
              "ladder_shelf_collision_110.obj",
              "ladder_shelf_collision_111.obj",
              "ladder_shelf_collision_112.obj",
              "ladder_shelf_collision_113.obj",
              "ladder_shelf_collision_114.obj",
              "ladder_shelf_collision_115.obj",
              "ladder_shelf_collision_116.obj",
              "ladder_shelf_collision_117.obj",
              "ladder_shelf_collision_118.obj",
              "ladder_shelf_collision_119.obj",
              "ladder_shelf_collision_120.obj",
              "ladder_shelf_collision_121.obj",
              "ladder_shelf_collision_122.obj",
              "ladder_shelf_collision_123.obj",
              "ladder_shelf_collision_124.obj",
              "ladder_shelf_collision_125.obj",
              "ladder_shelf_collision_126.obj",
              "ladder_shelf_collision_127.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "ladder_shelf_collision_0.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_1.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_2.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_3.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_4.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_5.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_6.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_7.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_8.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_9.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_10.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_11.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_12.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_13.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_14.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_15.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_16.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_17.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_18.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_19.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_20.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_21.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_22.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_23.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_24.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_25.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_26.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_27.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_28.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_29.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_30.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_31.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_32.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_33.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_34.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_35.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_36.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_37.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_38.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_39.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_40.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_41.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_42.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_43.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_44.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_45.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_46.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_47.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_48.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_49.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_50.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_51.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_52.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_53.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_54.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_55.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_56.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_57.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_58.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_59.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_60.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_61.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_62.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_63.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_64.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_65.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_66.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_67.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_68.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_69.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_70.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_71.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_72.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_73.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_74.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_75.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_76.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_77.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_78.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_79.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_80.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_81.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_82.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_83.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_84.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_85.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_86.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_87.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_88.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_89.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_90.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_91.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_92.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_93.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_94.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_95.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_96.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_97.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_98.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_99.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_100.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_101.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_102.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_103.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_104.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_105.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_106.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_107.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_108.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_109.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_110.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_111.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_112.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_113.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_114.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_115.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_116.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_117.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_118.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_119.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_120.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_121.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_122.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_123.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_124.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_125.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_126.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              },
              {
                "uri": "ladder_shelf_collision_127.obj",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "ladder_shelf.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "ladder_shelf.gltf",
                "scale": [
                  1.12,
                  1.12,
                  1.12
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.12,
        1.12,
        1.12
      ]
    },
    {
      "object_id": "mirror_0",
      "room_id": "dining_room",
      "name": "mirror",
      "description": "round wall mirror with aged brass frame",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -2.6500000000000004,
          -0.8013715143899314,
          1.456737605233667
        ],
        "rotation_wxyz": [
          0.7070976389865896,
          -0.003595683466411573,
          -0.003595683466411573,
          -0.7070976389865896
        ]
      },
      "bbox_min": [
        -0.44999998807907104,
        -0.0,
        -0.44999998807907104
      ],
      "bbox_max": [
        0.44999998807907104,
        0.02700016461312771,
        0.44999998807907104
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/mirror_1777557889262/mirror.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/mirror_1777557889262/mirror.sdf",
      "image_path": "generated_assets/wall_mounted/images/mirror_1777557889262.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "dining_room_west",
        "position_2d": [
          1.5986284856100685,
          1.456737605233667
        ],
        "rotation_2d": -0.010170172478569552,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/mirror_1777557889262/mirror.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/mirror_1777557889262/mirror.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 3.5,
            "inertia_pose": [
              0.0,
              0.020446,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.2021994,
              "ixy": -7.121709e-11,
              "ixz": -1.758641e-09,
              "iyy": 0.4041902,
              "iyz": 4.573361e-08,
              "izz": 0.2021994
            },
            "collision_meshes": [
              "mirror_collision_0.obj",
              "mirror_collision_1.obj",
              "mirror_collision_2.obj",
              "mirror_collision_3.obj",
              "mirror_collision_4.obj",
              "mirror_collision_5.obj",
              "mirror_collision_6.obj",
              "mirror_collision_7.obj",
              "mirror_collision_8.obj",
              "mirror_collision_9.obj",
              "mirror_collision_10.obj",
              "mirror_collision_11.obj",
              "mirror_collision_12.obj",
              "mirror_collision_13.obj",
              "mirror_collision_14.obj",
              "mirror_collision_15.obj",
              "mirror_collision_16.obj",
              "mirror_collision_17.obj",
              "mirror_collision_18.obj",
              "mirror_collision_19.obj",
              "mirror_collision_20.obj",
              "mirror_collision_21.obj",
              "mirror_collision_22.obj",
              "mirror_collision_23.obj",
              "mirror_collision_24.obj",
              "mirror_collision_25.obj",
              "mirror_collision_26.obj",
              "mirror_collision_27.obj",
              "mirror_collision_28.obj",
              "mirror_collision_29.obj",
              "mirror_collision_30.obj",
              "mirror_collision_31.obj",
              "mirror_collision_32.obj",
              "mirror_collision_33.obj",
              "mirror_collision_34.obj",
              "mirror_collision_35.obj",
              "mirror_collision_36.obj",
              "mirror_collision_37.obj",
              "mirror_collision_38.obj",
              "mirror_collision_39.obj",
              "mirror_collision_40.obj",
              "mirror_collision_41.obj",
              "mirror_collision_42.obj",
              "mirror_collision_43.obj",
              "mirror_collision_44.obj",
              "mirror_collision_45.obj",
              "mirror_collision_46.obj",
              "mirror_collision_47.obj",
              "mirror_collision_48.obj",
              "mirror_collision_49.obj",
              "mirror_collision_50.obj",
              "mirror_collision_51.obj",
              "mirror_collision_52.obj",
              "mirror_collision_53.obj",
              "mirror_collision_54.obj",
              "mirror_collision_55.obj",
              "mirror_collision_56.obj",
              "mirror_collision_57.obj",
              "mirror_collision_58.obj",
              "mirror_collision_59.obj",
              "mirror_collision_60.obj",
              "mirror_collision_61.obj",
              "mirror_collision_62.obj",
              "mirror_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "mirror_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "mirror_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.9,
              "mu2": 0.9
            },
            "visual_meshes": [
              "mirror.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "mirror.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "print_0",
      "room_id": "dining_room",
      "name": "print",
      "description": "framed botanical print with vintage tones",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          -1.223430963951338,
          2.35,
          1.4382908469320024
        ],
        "rotation_wxyz": [
          6.123228909654841e-17,
          0.0012888908937859114,
          7.892180537625439e-20,
          0.9999991693797871
        ]
      },
      "bbox_min": [
        -0.27500003576278687,
        -2.372071605805104e-08,
        -0.36666667461395264
      ],
      "bbox_max": [
        0.2749999761581421,
        0.029333356767892838,
        0.36666667461395264
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/print_1777558336950/print.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/print_1777558336950/print.sdf",
      "image_path": "generated_assets/wall_mounted/images/print_1777558336950.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "dining_room_north",
        "position_2d": [
          1.476569036048662,
          1.4382908469320024
        ],
        "rotation_2d": -0.0025777825012912787,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/print_1777558336950/print.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/print_1777558336950/print.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.1,
            "inertia_pose": [
              -0.0,
              0.011588,
              -0.0,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.05805347,
              "ixy": -2.918266e-09,
              "ixz": 1.491333e-13,
              "iyy": 0.09224754,
              "iyz": 5.778469e-11,
              "izz": 0.03429937
            },
            "collision_meshes": [
              "print_collision_0.obj",
              "print_collision_1.obj",
              "print_collision_2.obj",
              "print_collision_3.obj",
              "print_collision_4.obj",
              "print_collision_5.obj",
              "print_collision_6.obj",
              "print_collision_7.obj",
              "print_collision_8.obj",
              "print_collision_9.obj",
              "print_collision_10.obj",
              "print_collision_11.obj",
              "print_collision_12.obj",
              "print_collision_13.obj",
              "print_collision_14.obj",
              "print_collision_15.obj",
              "print_collision_16.obj",
              "print_collision_17.obj",
              "print_collision_18.obj",
              "print_collision_19.obj",
              "print_collision_20.obj",
              "print_collision_21.obj",
              "print_collision_22.obj",
              "print_collision_23.obj",
              "print_collision_24.obj",
              "print_collision_25.obj",
              "print_collision_26.obj",
              "print_collision_27.obj",
              "print_collision_28.obj",
              "print_collision_29.obj",
              "print_collision_30.obj",
              "print_collision_31.obj",
              "print_collision_32.obj",
              "print_collision_33.obj",
              "print_collision_34.obj",
              "print_collision_35.obj",
              "print_collision_36.obj",
              "print_collision_37.obj",
              "print_collision_38.obj",
              "print_collision_39.obj",
              "print_collision_40.obj",
              "print_collision_41.obj",
              "print_collision_42.obj",
              "print_collision_43.obj",
              "print_collision_44.obj",
              "print_collision_45.obj",
              "print_collision_46.obj",
              "print_collision_47.obj",
              "print_collision_48.obj",
              "print_collision_49.obj",
              "print_collision_50.obj",
              "print_collision_51.obj",
              "print_collision_52.obj",
              "print_collision_53.obj",
              "print_collision_54.obj",
              "print_collision_55.obj",
              "print_collision_56.obj",
              "print_collision_57.obj",
              "print_collision_58.obj",
              "print_collision_59.obj",
              "print_collision_60.obj",
              "print_collision_61.obj",
              "print_collision_62.obj",
              "print_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "print_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "print_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.4,
              "mu2": 0.4
            },
            "visual_meshes": [
              "print.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "print.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "painting_0",
      "room_id": "dining_room",
      "name": "painting",
      "description": "framed still life painting with warm earth tones",
      "object_type": "wall_mounted",
      "transform": {
        "translation": [
          1.1013715143899316,
          -2.35,
          1.456737605233667
        ],
        "rotation_wxyz": [
          0.9999870709768295,
          3.1137038740449333e-19,
          -0.005085064324199948,
          -6.123154828302557e-17
        ]
      },
      "bbox_min": [
        -0.3499999940395355,
        -3.0291992914044386e-08,
        -0.2800000011920929
      ],
      "bbox_max": [
        0.3499999940395355,
        0.035000029951334,
        0.2800000011920929
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/wall_mounted/sdf/painting_1777559734144/painting.glb",
      "sdf_path": "generated_assets/wall_mounted/sdf/painting_1777559734144/painting.sdf",
      "image_path": "generated_assets/wall_mounted/images/painting_1777559734144.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "dining_room_south",
        "position_2d": [
          1.5986284856100685,
          1.456737605233667
        ],
        "rotation_2d": -0.010170172478569552,
        "placement_method": "wall_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/painting_1777559734144/painting.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/wall_mounted/sdf/painting_1777559734144/painting.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              -0.0,
              0.011767,
              0.000403,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.05757345,
              "ixy": -7.527234e-09,
              "ixz": -7.506282e-12,
              "iyy": 0.1442757,
              "iyz": -4.163006e-06,
              "izz": 0.08699622
            },
            "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": "chandelier_0",
      "room_id": "dining_room",
      "name": "chandelier",
      "description": "Vintage brass chandelier with six small candle-style bulbs and compact circular frame",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          0.05997304255378202,
          0.004233296705468596,
          2.7
        ],
        "rotation_wxyz": [
          0.999994900378006,
          0.0,
          0.0,
          -0.0031936214525153813
        ]
      },
      "bbox_min": [
        -0.39776885509490967,
        -0.4581420123577118,
        -0.8999999761581421
      ],
      "bbox_max": [
        0.39776888489723206,
        0.4581420123577118,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/chandelier_1777561612907/chandelier.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/chandelier_1777561612907/chandelier.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/chandelier_1777561612907.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/chandelier_1777561612907/chandelier.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/chandelier_1777561612907/chandelier.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 5.2,
            "inertia_pose": [
              0.0,
              0.0,
              -0.75253,
              0.0,
              0.0,
              0.0
            ],
            "collision_meshes": [
              "chandelier_collision_0.obj",
              "chandelier_collision_1.obj",
              "chandelier_collision_2.obj",
              "chandelier_collision_3.obj",
              "chandelier_collision_4.obj",
              "chandelier_collision_5.obj",
              "chandelier_collision_6.obj",
              "chandelier_collision_7.obj",
              "chandelier_collision_8.obj",
              "chandelier_collision_9.obj",
              "chandelier_collision_10.obj",
              "chandelier_collision_11.obj",
              "chandelier_collision_12.obj",
              "chandelier_collision_13.obj",
              "chandelier_collision_14.obj",
              "chandelier_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "chandelier_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "chandelier_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.74,
              "mu2": 0.74
            },
            "visual_meshes": [
              "chandelier.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "chandelier.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "ceiling_light_0",
      "room_id": "dining_room",
      "name": "ceiling_light",
      "description": "Very low-profile aged brass puck ceiling light with shallow frosted diffuser",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          -1.806725212636841,
          1.695282946215416,
          2.7
        ],
        "rotation_wxyz": [
          0.9999954126183754,
          0.0,
          0.0,
          -0.0030289836917992193
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.10999999940395355,
        -0.04400000721216202
      ],
      "bbox_max": [
        0.10999999940395355,
        0.10999999940395355,
        -1.639127722441458e-09
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/ceiling_light_1777563687459.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              -0.0,
              0.0,
              -0.032512,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.007133868,
              "ixy": -6.758419e-11,
              "ixz": 1.581685e-11,
              "iyy": 0.007133867,
              "iyz": -1.095736e-11,
              "izz": 0.01374924
            },
            "collision_meshes": [
              "ceiling_light_collision_0.obj",
              "ceiling_light_collision_1.obj",
              "ceiling_light_collision_2.obj",
              "ceiling_light_collision_3.obj",
              "ceiling_light_collision_4.obj",
              "ceiling_light_collision_5.obj",
              "ceiling_light_collision_6.obj",
              "ceiling_light_collision_7.obj",
              "ceiling_light_collision_8.obj",
              "ceiling_light_collision_9.obj",
              "ceiling_light_collision_10.obj",
              "ceiling_light_collision_11.obj",
              "ceiling_light_collision_12.obj",
              "ceiling_light_collision_13.obj",
              "ceiling_light_collision_14.obj",
              "ceiling_light_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "ceiling_light_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 1.1,
              "mu2": 1.1
            },
            "visual_meshes": [
              "ceiling_light.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "ceiling_light.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "ceiling_light_1",
      "room_id": "dining_room",
      "name": "ceiling_light",
      "description": "Very low-profile aged brass puck ceiling light with shallow frosted diffuser",
      "object_type": "ceiling_mounted",
      "transform": {
        "translation": [
          1.7998088371241108,
          1.6802091724808965,
          2.7
        ],
        "rotation_wxyz": [
          0.9999824422899797,
          0.0,
          0.0,
          -0.005925800517004095
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.10999999940395355,
        -0.04400000721216202
      ],
      "bbox_max": [
        0.10999999940395355,
        0.10999999940395355,
        -1.639127722441458e-09
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.glb",
      "sdf_path": "generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.sdf",
      "image_path": "generated_assets/ceiling_mounted/images/ceiling_light_1777563687459.png",
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/ceiling_mounted/sdf/ceiling_light_1777563687459/ceiling_light.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.8,
            "inertia_pose": [
              -0.0,
              0.0,
              -0.032512,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.007133868,
              "ixy": -6.758419e-11,
              "ixz": 1.581685e-11,
              "iyy": 0.007133867,
              "iyz": -1.095736e-11,
              "izz": 0.01374924
            },
            "collision_meshes": [
              "ceiling_light_collision_0.obj",
              "ceiling_light_collision_1.obj",
              "ceiling_light_collision_2.obj",
              "ceiling_light_collision_3.obj",
              "ceiling_light_collision_4.obj",
              "ceiling_light_collision_5.obj",
              "ceiling_light_collision_6.obj",
              "ceiling_light_collision_7.obj",
              "ceiling_light_collision_8.obj",
              "ceiling_light_collision_9.obj",
              "ceiling_light_collision_10.obj",
              "ceiling_light_collision_11.obj",
              "ceiling_light_collision_12.obj",
              "ceiling_light_collision_13.obj",
              "ceiling_light_collision_14.obj",
              "ceiling_light_collision_15.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "ceiling_light_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "ceiling_light_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 1.1,
              "mu2": 1.1
            },
            "visual_meshes": [
              "ceiling_light.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "ceiling_light.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_0",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.06309703956606294,
          0.8076479516024334,
          0.9777954601027806
        ],
        "rotation_wxyz": [
          0.9998749713110034,
          -6.252977612673488e-06,
          3.4844646476269696e-07,
          0.015812707124300628
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.0,
          0.48
        ],
        "rotation_2d": 0.05235987755982989,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_1",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.44848945495149456,
          0.542868474176732,
          0.9777983674521176
        ],
        "rotation_wxyz": [
          0.9980541635187943,
          -6.257502821098232e-06,
          -2.545631695588538e-07,
          -0.06235292008862667
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.41,
          0.24
        ],
        "rotation_2d": -0.12217304763960307,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_2",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.4594894395994033,
          0.04175341862620965,
          0.9778043785246218
        ],
        "rotation_wxyz": [
          0.9987056888202961,
          -6.253034688943212e-06,
          3.474206991892985e-07,
          0.050862039663751635
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.41,
          -0.24
        ],
        "rotation_2d": 0.08726646259971647,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_3",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.030738079317152806,
          -0.15476320636947496,
          0.9778074822477888
        ],
        "rotation_wxyz": [
          0.998453105311023,
          -6.262602345119153e-06,
          3.091650519093443e-08,
          -0.055600327836749563
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.0,
          -0.48
        ],
        "rotation_2d": -0.06981317007977318,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_4",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.36327046391600587,
          0.08251526067927231,
          0.9778045748984519
        ],
        "rotation_wxyz": [
          0.9998874521375495,
          -6.2256228462924926e-06,
          6.802676966532571e-07,
          0.015002767033406821
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.41,
          -0.24
        ],
        "rotation_2d": 0.10471975511965978,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "placemat_5",
      "room_id": "dining_room",
      "name": "placemat",
      "description": "round woven placemat in natural beige fiber",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -0.35300116286610844,
          0.5842264265889662,
          0.9777985638259477
        ],
        "rotation_wxyz": [
          0.9985852426227348,
          -6.2619791633592955e-06,
          -9.359979169675223e-08,
          -0.0531743657872174
        ]
      },
      "bbox_min": [
        -0.17000000178813934,
        -0.17000000178813934,
        0.0
      ],
      "bbox_max": [
        0.17000000178813934,
        0.17000000178813934,
        0.0020000000949949026
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path": "generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          -0.41,
          0.24
        ],
        "rotation_2d": -0.08726646259971647,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.gltf",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/placemat_1777566671/placemat.sdf",
      "physics": {
        "links": {
          "base_link": {
            "visual_meshes": [
              "placemat.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "placemat.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "centerpiece_bowl_0",
      "room_id": "dining_room",
      "name": "centerpiece_bowl",
      "description": "small vintage ceramic centerpiece bowl in muted cream glaze",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.06709690728483113,
          0.3146561359650721,
          0.9777931336684544
        ],
        "rotation_wxyz": [
          0.9935427649272046,
          -2.7438811043016553e-06,
          6.510174684619307e-07,
          0.1134582489414186
        ]
      },
      "bbox_min": [
        -0.10999999940395355,
        -0.08863213658332825,
        0.0
      ],
      "bbox_max": [
        0.10999999940395355,
        0.08863213658332825,
        0.13294820487499237
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/centerpiece_bowl_1777566143046/centerpiece_bowl.glb",
      "sdf_path": "generated_assets/manipuland/sdf/centerpiece_bowl_1777566143046/centerpiece_bowl.sdf",
      "image_path": "generated_assets/manipuland/images/centerpiece_bowl_1777566143046.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_dining_room/generated_assets/manipuland/sdf/centerpiece_bowl_1777566143046/centerpiece_bowl.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/centerpiece_bowl_1777566143046/centerpiece_bowl.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 2.6,
            "inertia_pose": [
              -0.0,
              -0.0,
              -0.076515,
              0.0,
              0.0,
              0.0
            ],
            "collision_meshes": [
              "centerpiece_bowl_collision_0.obj",
              "centerpiece_bowl_collision_1.obj",
              "centerpiece_bowl_collision_2.obj",
              "centerpiece_bowl_collision_3.obj",
              "centerpiece_bowl_collision_4.obj",
              "centerpiece_bowl_collision_5.obj",
              "centerpiece_bowl_collision_6.obj",
              "centerpiece_bowl_collision_7.obj",
              "centerpiece_bowl_collision_8.obj",
              "centerpiece_bowl_collision_9.obj",
              "centerpiece_bowl_collision_10.obj",
              "centerpiece_bowl_collision_11.obj",
              "centerpiece_bowl_collision_12.obj",
              "centerpiece_bowl_collision_13.obj",
              "centerpiece_bowl_collision_14.obj",
              "centerpiece_bowl_collision_15.obj",
              "centerpiece_bowl_collision_16.obj",
              "centerpiece_bowl_collision_17.obj",
              "centerpiece_bowl_collision_18.obj",
              "centerpiece_bowl_collision_19.obj",
              "centerpiece_bowl_collision_20.obj",
              "centerpiece_bowl_collision_21.obj",
              "centerpiece_bowl_collision_22.obj",
              "centerpiece_bowl_collision_23.obj",
              "centerpiece_bowl_collision_24.obj",
              "centerpiece_bowl_collision_25.obj",
              "centerpiece_bowl_collision_26.obj",
              "centerpiece_bowl_collision_27.obj",
              "centerpiece_bowl_collision_28.obj",
              "centerpiece_bowl_collision_29.obj",
              "centerpiece_bowl_collision_30.obj",
              "centerpiece_bowl_collision_31.obj",
              "centerpiece_bowl_collision_32.obj",
              "centerpiece_bowl_collision_33.obj",
              "centerpiece_bowl_collision_34.obj",
              "centerpiece_bowl_collision_35.obj",
              "centerpiece_bowl_collision_36.obj",
              "centerpiece_bowl_collision_37.obj",
              "centerpiece_bowl_collision_38.obj",
              "centerpiece_bowl_collision_39.obj",
              "centerpiece_bowl_collision_40.obj",
              "centerpiece_bowl_collision_41.obj",
              "centerpiece_bowl_collision_42.obj",
              "centerpiece_bowl_collision_43.obj",
              "centerpiece_bowl_collision_44.obj",
              "centerpiece_bowl_collision_45.obj",
              "centerpiece_bowl_collision_46.obj",
              "centerpiece_bowl_collision_47.obj",
              "centerpiece_bowl_collision_48.obj",
              "centerpiece_bowl_collision_49.obj",
              "centerpiece_bowl_collision_50.obj",
              "centerpiece_bowl_collision_51.obj",
              "centerpiece_bowl_collision_52.obj",
              "centerpiece_bowl_collision_53.obj",
              "centerpiece_bowl_collision_54.obj",
              "centerpiece_bowl_collision_55.obj",
              "centerpiece_bowl_collision_56.obj",
              "centerpiece_bowl_collision_57.obj",
              "centerpiece_bowl_collision_58.obj",
              "centerpiece_bowl_collision_59.obj",
              "centerpiece_bowl_collision_60.obj",
              "centerpiece_bowl_collision_61.obj",
              "centerpiece_bowl_collision_62.obj",
              "centerpiece_bowl_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "centerpiece_bowl_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "centerpiece_bowl_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "centerpiece_bowl.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "centerpiece_bowl.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "stack_0",
      "room_id": "dining_room",
      "name": "stack_2",
      "description": "Stack of 2 objects: candleholder, candle",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          0.18886929796441246,
          0.3546398483893071,
          0.9777998937478236
        ],
        "rotation_wxyz": [
          0.9927163769528264,
          -7.321856066563876e-06,
          1.103054314639226e-05,
          0.12047487187945463
        ]
      },
      "bbox_min": [
        -0.06376123938486755,
        -0.059608023134735344,
        -8.903154481432196e-07
      ],
      "bbox_max": [
        0.06376101251958594,
        0.05960805847604622,
        0.07444514274078795
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": null,
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_0",
        "position_2d": [
          0.14,
          0.05
        ],
        "rotation_2d": 0.2792526803190927,
        "placement_method": "stack_placement"
      }
    },
    {
      "object_id": "potted_plant_0",
      "room_id": "dining_room",
      "name": "potted_plant",
      "description": "medium rustic ceramic potted leafy plant",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -2.284245694875949,
          1.7537835376968554,
          0.7509331985475421
        ],
        "rotation_wxyz": [
          0.6640035347508642,
          0.01737096699449207,
          0.034849903070956346,
          -0.7467148315119897
        ]
      },
      "bbox_min": [
        -0.07046708464622498,
        -0.06517469882965088,
        0.0
      ],
      "bbox_max": [
        0.06953291594982147,
        0.07482528686523438,
        0.1521013379096985
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/potted_plant_1777576718187/potted_plant.glb",
      "sdf_path": "generated_assets/manipuland/sdf/potted_plant_1777576718187/potted_plant.sdf",
      "image_path": "generated_assets/manipuland/images/potted_plant_1777576718187.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_3",
        "position_2d": [
          -0.13,
          -0.02
        ],
        "rotation_2d": -0.13962634015954636,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/potted_plant_1777576718187/potted_plant.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/potted_plant_1777576718187/potted_plant.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.8,
            "inertia_pose": [
              0.002025,
              0.002492,
              0.052314,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.001928964,
              "ixy": 4.133978e-06,
              "ixz": 9.40324e-06,
              "iyy": 0.001929978,
              "iyz": 9.008033e-06,
              "izz": 0.0007765266
            },
            "collision_meshes": [
              "potted_plant_collision_0.obj",
              "potted_plant_collision_1.obj",
              "potted_plant_collision_2.obj",
              "potted_plant_collision_3.obj",
              "potted_plant_collision_4.obj",
              "potted_plant_collision_5.obj",
              "potted_plant_collision_6.obj",
              "potted_plant_collision_7.obj",
              "potted_plant_collision_8.obj",
              "potted_plant_collision_9.obj",
              "potted_plant_collision_10.obj",
              "potted_plant_collision_11.obj",
              "potted_plant_collision_12.obj",
              "potted_plant_collision_13.obj",
              "potted_plant_collision_14.obj",
              "potted_plant_collision_15.obj",
              "potted_plant_collision_16.obj",
              "potted_plant_collision_17.obj",
              "potted_plant_collision_18.obj",
              "potted_plant_collision_19.obj",
              "potted_plant_collision_20.obj",
              "potted_plant_collision_21.obj",
              "potted_plant_collision_22.obj",
              "potted_plant_collision_23.obj",
              "potted_plant_collision_24.obj",
              "potted_plant_collision_25.obj",
              "potted_plant_collision_26.obj",
              "potted_plant_collision_27.obj",
              "potted_plant_collision_28.obj",
              "potted_plant_collision_29.obj",
              "potted_plant_collision_30.obj",
              "potted_plant_collision_31.obj",
              "potted_plant_collision_32.obj",
              "potted_plant_collision_33.obj",
              "potted_plant_collision_34.obj",
              "potted_plant_collision_35.obj",
              "potted_plant_collision_36.obj",
              "potted_plant_collision_37.obj",
              "potted_plant_collision_38.obj",
              "potted_plant_collision_39.obj",
              "potted_plant_collision_40.obj",
              "potted_plant_collision_41.obj",
              "potted_plant_collision_42.obj",
              "potted_plant_collision_43.obj",
              "potted_plant_collision_44.obj",
              "potted_plant_collision_45.obj",
              "potted_plant_collision_46.obj",
              "potted_plant_collision_47.obj",
              "potted_plant_collision_48.obj",
              "potted_plant_collision_49.obj",
              "potted_plant_collision_50.obj",
              "potted_plant_collision_51.obj",
              "potted_plant_collision_52.obj",
              "potted_plant_collision_53.obj",
              "potted_plant_collision_54.obj",
              "potted_plant_collision_55.obj",
              "potted_plant_collision_56.obj",
              "potted_plant_collision_57.obj",
              "potted_plant_collision_58.obj",
              "potted_plant_collision_59.obj",
              "potted_plant_collision_60.obj",
              "potted_plant_collision_61.obj",
              "potted_plant_collision_62.obj",
              "potted_plant_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "potted_plant_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "potted_plant_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "potted_plant.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "potted_plant.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "storage_jar_0",
      "room_id": "dining_room",
      "name": "storage_jar",
      "description": "small cream ceramic storage jar with lid",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -2.221052477566687,
          1.704139983339065,
          0.4971660961384198
        ],
        "rotation_wxyz": [
          0.7723047397342054,
          -0.0050092879137436114,
          0.006084989822145035,
          -0.635203328799167
        ]
      },
      "bbox_min": [
        -0.03999999910593033,
        -0.03999999910593033,
        0.0
      ],
      "bbox_max": [
        0.03999999910593033,
        0.03999999910593033,
        0.08888889104127884
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/storage_jar_1777579003266/storage_jar.glb",
      "sdf_path": "generated_assets/manipuland/sdf/storage_jar_1777579003266/storage_jar.sdf",
      "image_path": "generated_assets/manipuland/images/storage_jar_1777579003266.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_2",
        "position_2d": [
          -0.1,
          0.02
        ],
        "rotation_2d": 0.17453292519943295,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/storage_jar_1777579003266/storage_jar.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/storage_jar_1777579003266/storage_jar.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.9,
            "inertia_pose": [
              0.0,
              -0.0,
              0.009298,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0007616682,
              "ixy": 1.346072e-14,
              "ixz": -2.538373e-14,
              "iyy": 0.0007616682,
              "iyz": 5.662379e-13,
              "izz": 0.0005987167
            },
            "collision_meshes": [
              "storage_jar_collision_0.obj",
              "storage_jar_collision_1.obj",
              "storage_jar_collision_2.obj",
              "storage_jar_collision_3.obj",
              "storage_jar_collision_4.obj",
              "storage_jar_collision_5.obj",
              "storage_jar_collision_6.obj",
              "storage_jar_collision_7.obj",
              "storage_jar_collision_8.obj",
              "storage_jar_collision_9.obj",
              "storage_jar_collision_10.obj",
              "storage_jar_collision_11.obj",
              "storage_jar_collision_12.obj",
              "storage_jar_collision_13.obj",
              "storage_jar_collision_14.obj",
              "storage_jar_collision_15.obj",
              "storage_jar_collision_16.obj",
              "storage_jar_collision_17.obj",
              "storage_jar_collision_18.obj",
              "storage_jar_collision_19.obj",
              "storage_jar_collision_20.obj",
              "storage_jar_collision_21.obj",
              "storage_jar_collision_22.obj",
              "storage_jar_collision_23.obj",
              "storage_jar_collision_24.obj",
              "storage_jar_collision_25.obj",
              "storage_jar_collision_26.obj",
              "storage_jar_collision_27.obj",
              "storage_jar_collision_28.obj",
              "storage_jar_collision_29.obj",
              "storage_jar_collision_30.obj",
              "storage_jar_collision_31.obj",
              "storage_jar_collision_32.obj",
              "storage_jar_collision_33.obj",
              "storage_jar_collision_34.obj",
              "storage_jar_collision_35.obj",
              "storage_jar_collision_36.obj",
              "storage_jar_collision_37.obj",
              "storage_jar_collision_38.obj",
              "storage_jar_collision_39.obj",
              "storage_jar_collision_40.obj",
              "storage_jar_collision_41.obj",
              "storage_jar_collision_42.obj",
              "storage_jar_collision_43.obj",
              "storage_jar_collision_44.obj",
              "storage_jar_collision_45.obj",
              "storage_jar_collision_46.obj",
              "storage_jar_collision_47.obj",
              "storage_jar_collision_48.obj",
              "storage_jar_collision_49.obj",
              "storage_jar_collision_50.obj",
              "storage_jar_collision_51.obj",
              "storage_jar_collision_52.obj",
              "storage_jar_collision_53.obj",
              "storage_jar_collision_54.obj",
              "storage_jar_collision_55.obj",
              "storage_jar_collision_56.obj",
              "storage_jar_collision_57.obj",
              "storage_jar_collision_58.obj",
              "storage_jar_collision_59.obj",
              "storage_jar_collision_60.obj",
              "storage_jar_collision_61.obj",
              "storage_jar_collision_62.obj",
              "storage_jar_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "storage_jar_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "storage_jar_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "storage_jar.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "storage_jar.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "jar_0",
      "room_id": "dining_room",
      "name": "jar",
      "description": "short squat amber glass jar with lid",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -2.2567810807923667,
          1.5001947310881736,
          0.7491014521917491
        ],
        "rotation_wxyz": [
          0.7517154021564139,
          -0.00658772701199645,
          0.007520563080617927,
          -0.6594118569942362
        ]
      },
      "bbox_min": [
        -0.04662497714161873,
        -0.04662497714161873,
        0.0
      ],
      "bbox_max": [
        0.04662497714161873,
        0.04662497714161873,
        0.07500000298023224
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/jar_1777584816339/jar.glb",
      "sdf_path": "generated_assets/manipuland/sdf/jar_1777584816339/jar.sdf",
      "image_path": "generated_assets/manipuland/images/jar_1777584816339.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_3",
        "position_2d": [
          0.11,
          0.02
        ],
        "rotation_2d": 0.13962634015954636,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/jar_1777584816339/jar.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/jar_1777584816339/jar.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.16,
            "inertia_pose": [
              0.0,
              0.0,
              0.040224,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0002168041,
              "ixy": 8.535213e-13,
              "ixz": 4.118952e-15,
              "iyy": 0.0002168041,
              "iyz": 1.624968e-14,
              "izz": 0.0002820502
            },
            "collision_meshes": [
              "jar_collision_0.obj",
              "jar_collision_1.obj",
              "jar_collision_2.obj",
              "jar_collision_3.obj",
              "jar_collision_4.obj",
              "jar_collision_5.obj",
              "jar_collision_6.obj",
              "jar_collision_7.obj",
              "jar_collision_8.obj",
              "jar_collision_9.obj",
              "jar_collision_10.obj",
              "jar_collision_11.obj",
              "jar_collision_12.obj",
              "jar_collision_13.obj",
              "jar_collision_14.obj",
              "jar_collision_15.obj",
              "jar_collision_16.obj",
              "jar_collision_17.obj",
              "jar_collision_18.obj",
              "jar_collision_19.obj",
              "jar_collision_20.obj",
              "jar_collision_21.obj",
              "jar_collision_22.obj",
              "jar_collision_23.obj",
              "jar_collision_24.obj",
              "jar_collision_25.obj",
              "jar_collision_26.obj",
              "jar_collision_27.obj",
              "jar_collision_28.obj",
              "jar_collision_29.obj",
              "jar_collision_30.obj",
              "jar_collision_31.obj",
              "jar_collision_32.obj",
              "jar_collision_33.obj",
              "jar_collision_34.obj",
              "jar_collision_35.obj",
              "jar_collision_36.obj",
              "jar_collision_37.obj",
              "jar_collision_38.obj",
              "jar_collision_39.obj",
              "jar_collision_40.obj",
              "jar_collision_41.obj",
              "jar_collision_42.obj",
              "jar_collision_43.obj",
              "jar_collision_44.obj",
              "jar_collision_45.obj",
              "jar_collision_46.obj",
              "jar_collision_47.obj",
              "jar_collision_48.obj",
              "jar_collision_49.obj",
              "jar_collision_50.obj",
              "jar_collision_51.obj",
              "jar_collision_52.obj",
              "jar_collision_53.obj",
              "jar_collision_54.obj",
              "jar_collision_55.obj",
              "jar_collision_56.obj",
              "jar_collision_57.obj",
              "jar_collision_58.obj",
              "jar_collision_59.obj",
              "jar_collision_60.obj",
              "jar_collision_61.obj",
              "jar_collision_62.obj",
              "jar_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "jar_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "jar_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "jar.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "jar.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "hardcover_book_0",
      "room_id": "dining_room",
      "name": "hardcover_book",
      "description": "weathered hardcover book with muted green cover",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -2.2821773496631685,
          1.516033032286838,
          0.4983352461870143
        ],
        "rotation_wxyz": [
          0.6797743490755671,
          -0.007172023958478977,
          0.004066479436138621,
          -0.7333749792270141
        ]
      },
      "bbox_min": [
        -0.07387212663888931,
        -0.10633722692728043,
        0.0
      ],
      "bbox_max": [
        0.07612787187099457,
        0.10633722692728043,
        0.035084258764982224
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/hardcover_book_1777582946430/hardcover_book.glb",
      "sdf_path": "generated_assets/manipuland/sdf/hardcover_book_1777582946430/hardcover_book.sdf",
      "image_path": "generated_assets/manipuland/images/hardcover_book_1777582946430.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_2",
        "position_2d": [
          0.08,
          -0.03
        ],
        "rotation_2d": -0.17453292519943295,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/hardcover_book_1777582946430/hardcover_book.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/hardcover_book_1777582946430/hardcover_book.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 0.9,
            "inertia_pose": [
              -0.002431,
              -0.0,
              0.017542,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.003262803,
              "ixy": 1.071112e-10,
              "ixz": -9.134043e-12,
              "iyy": 0.00162219,
              "iyz": 3.367482e-11,
              "izz": 0.004708547
            },
            "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": "lidded_jar_0",
      "room_id": "dining_room",
      "name": "lidded_jar",
      "description": "very tiny rustic ceramic lidded jar",
      "object_type": "manipuland",
      "transform": {
        "translation": [
          -2.2441852479964113,
          1.6214077675006504,
          0.2468039161179096
        ],
        "rotation_wxyz": [
          0.7308796338530941,
          -0.0066930220280445474,
          0.007173330333987127,
          -0.6824358633650628
        ]
      },
      "bbox_min": [
        -0.02474999986588955,
        -0.02474999986588955,
        0.0
      ],
      "bbox_max": [
        0.02474999986588955,
        0.02474999986588955,
        0.054999999701976776
      ],
      "scale_factor": 1.0,
      "immutable": false,
      "is_articulated": false,
      "geometry_path": "generated_assets/manipuland/sdf/lidded_jar_1777592079386/lidded_jar.glb",
      "sdf_path": "generated_assets/manipuland/sdf/lidded_jar_1777592079386/lidded_jar.sdf",
      "image_path": "generated_assets/manipuland/images/lidded_jar_1777592079386.png",
      "support_surfaces": [],
      "placement_info": {
        "parent_surface_id": "S_1",
        "position_2d": [
          0.0,
          -0.01
        ],
        "rotation_2d": 0.08726646259971647,
        "placement_method": "surface_placement"
      },
      "geometry_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/lidded_jar_1777592079386/lidded_jar.glb",
      "sdf_path_resolved": "room_dining_room/generated_assets/manipuland/sdf/lidded_jar_1777592079386/lidded_jar.sdf",
      "physics": {
        "links": {
          "base_link": {
            "mass": 1.0,
            "inertia_pose": [
              -0.0,
              -0.0,
              0.022521,
              0.0,
              0.0,
              0.0
            ],
            "inertia": {
              "ixx": 0.0003709823,
              "ixy": -3.428892e-13,
              "ixz": 6.820632e-14,
              "iyy": 0.0003709823,
              "iyz": 8.878179e-13,
              "izz": 0.0003009872
            },
            "collision_meshes": [
              "lidded_jar_collision_0.obj",
              "lidded_jar_collision_1.obj",
              "lidded_jar_collision_2.obj",
              "lidded_jar_collision_3.obj",
              "lidded_jar_collision_4.obj",
              "lidded_jar_collision_5.obj",
              "lidded_jar_collision_6.obj",
              "lidded_jar_collision_7.obj",
              "lidded_jar_collision_8.obj",
              "lidded_jar_collision_9.obj",
              "lidded_jar_collision_10.obj",
              "lidded_jar_collision_11.obj",
              "lidded_jar_collision_12.obj",
              "lidded_jar_collision_13.obj",
              "lidded_jar_collision_14.obj",
              "lidded_jar_collision_15.obj",
              "lidded_jar_collision_16.obj",
              "lidded_jar_collision_17.obj",
              "lidded_jar_collision_18.obj",
              "lidded_jar_collision_19.obj",
              "lidded_jar_collision_20.obj",
              "lidded_jar_collision_21.obj",
              "lidded_jar_collision_22.obj",
              "lidded_jar_collision_23.obj",
              "lidded_jar_collision_24.obj",
              "lidded_jar_collision_25.obj",
              "lidded_jar_collision_26.obj",
              "lidded_jar_collision_27.obj",
              "lidded_jar_collision_28.obj",
              "lidded_jar_collision_29.obj",
              "lidded_jar_collision_30.obj",
              "lidded_jar_collision_31.obj",
              "lidded_jar_collision_32.obj",
              "lidded_jar_collision_33.obj",
              "lidded_jar_collision_34.obj",
              "lidded_jar_collision_35.obj",
              "lidded_jar_collision_36.obj",
              "lidded_jar_collision_37.obj",
              "lidded_jar_collision_38.obj",
              "lidded_jar_collision_39.obj",
              "lidded_jar_collision_40.obj",
              "lidded_jar_collision_41.obj",
              "lidded_jar_collision_42.obj",
              "lidded_jar_collision_43.obj",
              "lidded_jar_collision_44.obj",
              "lidded_jar_collision_45.obj",
              "lidded_jar_collision_46.obj",
              "lidded_jar_collision_47.obj",
              "lidded_jar_collision_48.obj",
              "lidded_jar_collision_49.obj",
              "lidded_jar_collision_50.obj",
              "lidded_jar_collision_51.obj",
              "lidded_jar_collision_52.obj",
              "lidded_jar_collision_53.obj",
              "lidded_jar_collision_54.obj",
              "lidded_jar_collision_55.obj",
              "lidded_jar_collision_56.obj",
              "lidded_jar_collision_57.obj",
              "lidded_jar_collision_58.obj",
              "lidded_jar_collision_59.obj",
              "lidded_jar_collision_60.obj",
              "lidded_jar_collision_61.obj",
              "lidded_jar_collision_62.obj",
              "lidded_jar_collision_63.obj"
            ],
            "collision_mesh_info": [
              {
                "uri": "lidded_jar_collision_0.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_1.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_2.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_3.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_4.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_5.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_6.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_7.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_8.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_9.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_10.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_11.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_12.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_13.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_14.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_15.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_16.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_17.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_18.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_19.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_20.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_21.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_22.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_23.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_24.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_25.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_26.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_27.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_28.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_29.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_30.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_31.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_32.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_33.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_34.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_35.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_36.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_37.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_38.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_39.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_40.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_41.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_42.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_43.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_44.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_45.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_46.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_47.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_48.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_49.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_50.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_51.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_52.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_53.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_54.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_55.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_56.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_57.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_58.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_59.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_60.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_61.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_62.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              },
              {
                "uri": "lidded_jar_collision_63.obj",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ],
            "friction": {
              "mu": 0.35,
              "mu2": 0.35
            },
            "visual_meshes": [
              "lidded_jar.gltf"
            ],
            "visual_mesh_info": [
              {
                "uri": "lidded_jar.gltf",
                "scale": [
                  1.0,
                  1.0,
                  1.0
                ]
              }
            ]
          }
        }
      },
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ]
    },
    {
      "object_id": "window_1",
      "room_id": "dining_room",
      "name": "window_1",
      "description": "Room geometry window_1",
      "object_type": "window",
      "transform": {
        "translation": [
          0.6284808072695651,
          2.375,
          1.5499999999999998
        ],
        "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/dining_room/windows/window_1/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/dining_room/windows/window_1/window.gltf"
    },
    {
      "object_id": "north_wall_exterior",
      "room_id": "dining_room",
      "name": "north_wall_exterior",
      "description": "Room geometry north_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          2.425,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/north_wall_exterior/wall.gltf"
    },
    {
      "object_id": "south_wall_exterior",
      "room_id": "dining_room",
      "name": "south_wall_exterior",
      "description": "Room geometry south_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          0.0,
          -2.425,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": null,
      "bbox_max": null,
      "scale_factor": 1,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "floor_plans/dining_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/dining_room/walls/south_wall_exterior/wall.gltf"
    },
    {
      "object_id": "window_2",
      "room_id": "dining_room",
      "name": "window_2",
      "description": "Room geometry window_2",
      "object_type": "window",
      "transform": {
        "translation": [
          2.6750000000000003,
          0.5220427135310932,
          1.55
        ],
        "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/dining_room/windows/window_2/window.gltf",
      "support_surfaces": [],
      "placement_info": null,
      "visual_scale": [
        1.0,
        1.0,
        1.0
      ],
      "geometry_path_resolved": "floor_plans/dining_room/windows/window_2/window.gltf"
    },
    {
      "object_id": "east_wall_exterior",
      "room_id": "dining_room",
      "name": "east_wall_exterior",
      "description": "Room geometry east_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          2.725,
          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/dining_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/dining_room/walls/east_wall_exterior/wall.gltf"
    },
    {
      "object_id": "west_wall_exterior",
      "room_id": "dining_room",
      "name": "west_wall_exterior",
      "description": "Room geometry west_wall_exterior",
      "object_type": "wall_exterior",
      "transform": {
        "translation": [
          -2.725,
          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/dining_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/dining_room/walls/west_wall_exterior/wall.gltf"
    },
    {
      "object_id": "floor_dining_room",
      "room_id": "dining_room",
      "name": "Floor",
      "description": "Floor surface",
      "object_type": "floor",
      "transform": {
        "translation": [
          0.0,
          0.0,
          0.0
        ],
        "rotation_wxyz": [
          1.0,
          0.0,
          0.0,
          0.0
        ]
      },
      "bbox_min": [
        -2.7,
        -2.4,
        -0.1
      ],
      "bbox_max": [
        2.7,
        2.4,
        0.0
      ],
      "scale_factor": 1.0,
      "immutable": true,
      "is_articulated": false,
      "geometry_path": "/mnt/petrelfs/songhan/puyi.wang/Code_Scene_workspace/outputs/scene_094/floor_plans/dining_room/floors/floor.gltf",
      "sdf_path": null,
      "image_path": null,
      "support_surfaces": [],
      "placement_info": null,
      "geometry_path_resolved": "floor_plans/dining_room/floors/floor.gltf"
    }
  ]
}