scene_schema.json

{
  "scene_id": "kitchen_01",
  "coordinate_system": "z_up_meters",
  "geometry": {
    "source": "reconstruction/scene.glb",
    "scale": 1.0
  },
  "objects": [
    {
      "id": "obj_17",
      "class": "mug",
      "asset": "assets/mug_17.glb",
      "pose": [
        0.73,
        0.18,
        0.91,
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "physics": {
        "mass_kg": 0.31,
        "friction": 0.42,
        "collision": "convex"
      },
      "affordances": [
        "graspable",
        "movable"
      ]
    }
  ],
  "validation": {
    "geometry_error_cm": 1.8,
    "pose_alignment_score": 0.97
  }
}