Add living_room (50 obj), kitchen_dining (35 obj), tabletop_kitchen (23 obj) scenes with flythrough videos

.gitattributes

@@ -45,3 +45,17 @@ scenes/scene_01_bedroom/renders/furniture_side3.png filter=lfs diff=lfs merge=lf
 scenes/scene_01_bedroom/renders/furniture_top.png filter=lfs diff=lfs merge=lfs -text
 scenes/scene_01_bedroom/renders/wall_north.png filter=lfs diff=lfs merge=lfs -text
 scenes/scene_01_bedroom/renders/wall_top.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/flythrough.mp4 filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/renders/floor_plan.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/renders/furniture_side.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/renders/furniture_top.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/renders/wall_context_top.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_02_living_room/renders/wall_living_room_north_ortho.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/flythrough.mp4 filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/renders/floor_plan.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/renders/furniture_side.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/renders/furniture_top.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/renders/wall_bedroom_north_ortho.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_03_kitchen_dining/renders/wall_context_top.png filter=lfs diff=lfs merge=lfs -text
+scenes/scene_04_tabletop_kitchen/flythrough.mp4 filter=lfs diff=lfs merge=lfs -text
+scenes/scene_04_tabletop_kitchen/renders/floor_plan.png filter=lfs diff=lfs merge=lfs -text

scenes/scene_02_living_room/README.md

@@ -0,0 +1,25 @@
+# Scene 02: Living Room（客厅）
+
+**提示词**:
+> A cozy modern living room with a three-seat sofa facing a wooden coffee table. On the table there is a TV remote, a stack of books, a ceramic mug and a small decorative plant. A bookshelf along the wall holds books.
+
+**运行时间**: ~2小时 | **GPU**: NVIDIA L40S 48GB | **Backend**: Hunyuan3D-2 + transformers patch
+
+## 生成物体（50个）
+
+| 类型 | 物体 |
+|------|------|
+| furniture | sofa, coffee_table, rug, bookshelf, accent_armchair, side_table, floor_lamp, ottoman |
+| wall_mounted | print ×3, mirror, clock, wall_shelf, photograph ×2 |
+| ceiling_mounted | semi_flush_light, flush_mount, smoke_detector, downlight_puck ×2, track_lighting |
+| manipuland | tv_remote, mug, books ×14, potted_succulent ×3, stack ×2 |
+
+**这是成功生成了 furniture + manipuland 的完整场景。**
+
+## 飞行视频
+
+`flythrough.mp4` — 120帧 1280×720 24fps
+
+## 关键配置
+
+本场景需要 `check_torch_load_is_safe()` patch（见 README 技术说明），否则 Hunyuan3D 纹理管线加载失败。

scenes/scene_02_living_room/flythrough.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9658e75f3dff3c155fbeccb5cbdfde9dec16d95cddf491c4b5dd2382b342ffc
+size 1163853

scenes/scene_02_living_room/sim_files/house.dmd.yaml

@@ -0,0 +1,512 @@
+directives:
+- add_frame:
+    name: house_frame
+    X_PF:
+      base_frame: world
+      translation: [0, 0, 0]
+- add_frame:
+    name: room_living_room_frame
+    X_PF:
+      base_frame: house_frame
+      translation: [2.75, 2.25, 0]
+- add_model:
+    name: room_geometry_living_room
+    file: package://scene/room_geometry/room_geometry_living_room.sdf
+- add_model:
+    name: living_room_sofa_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/sofa_1784928752/sofa.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [0.056300384350858525, -1.2395380691097762, -0.0050225959083814295]
+        rotation: !AngleAxis
+          angle_deg: 1.0774944637961985
+          axis: [-0.03761026172963171, 0.1877150512334653, 0.9815031980350578]
+- add_model:
+    name: living_room_coffee_table_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/coffee_table_1784928752/coffee_table.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [0.02653633874236459, -0.4595032411848822, -0.0023908092075131384]
+        rotation: !AngleAxis
+          angle_deg: 0.5743415877215832
+          axis: [0.007105495829828459, -0.020606694423885318, 0.9997624098124179]
+- add_model:
+    name: living_room_rug_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/rug_1784929449/rug.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_rug_0::base_link
+    X_PC:
+      translation: [0.03676633158170533, -0.9351770116591966, 0.0]
+      rotation: !AngleAxis
+        angle_deg: 0.9767386998927389
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: living_room_bookshelf_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/bookshelf_1784928752/bookshelf.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4892081055869677, -0.016442568677228226, -0.00014118516436630073]
+        rotation: !AngleAxis
+          angle_deg: 90.0098414842343
+          axis: [0.012349136379856582, -0.01240595380240513, -0.9998467838328651]
+- add_model:
+    name: living_room_accent_armchair_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/accent_armchair_1784929352/accent_armchair.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [1.508074852464193, -0.892396838962601, -0.0018578911364911226]
+        rotation: !AngleAxis
+          angle_deg: 83.49948056775433
+          axis: [8.269896941942185e-05, 0.00024540366776592236, 0.9999999664689596]
+- add_model:
+    name: living_room_side_table_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/side_table_1784928752/side_table.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [1.8230009017039044, -0.1909605569278469, -0.0010743594737784455]
+        rotation: !AngleAxis
+          angle_deg: 0.28532207388241115
+          axis: [0.11344081886922915, -0.05771160698838935, 0.9918672043338747]
+- add_model:
+    name: living_room_floor_lamp_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/floor_lamp_1784928752/floor_lamp.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.3730335291022477, -1.76294877292786, -0.00017038017835069574]
+        rotation: !AngleAxis
+          angle_deg: 0.5568440145236515
+          axis: [-0.016577242166377657, -0.09952038536969025, -0.9948974258374708]
+- add_model:
+    name: living_room_ottoman_0
+    file: package://scene/room_living_room/generated_assets/furniture/sdf/ottoman_1784930307/ottoman.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-1.3294680153634266, -0.9000199867302205, -0.0002000338812148181]
+        rotation: !AngleAxis
+          angle_deg: 7.669132105537283
+          axis: [0.0008293066068403817, -0.003440640787993097, 0.999993737101148]
+- add_model:
+    name: living_room_print_0
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/print_1784931518/print.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_print_0::base_link
+    X_PC:
+      translation: [-0.6516331958381647, 2.2, 1.4394197824849952]
+      rotation: !AngleAxis
+        angle_deg: 180.0
+        axis: [0.0034485425812547793, 2.1116233169285083e-19, 0.9999940537593538]
+- add_model:
+    name: living_room_print_1
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/print_1784931518/print.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_print_1::base_link
+    X_PC:
+      translation: [0.06582715700377939, 2.2, 1.4442426587333954]
+      rotation: !AngleAxis
+        angle_deg: 180.0
+        axis: [-0.0025367316917963077, -1.5533001733269992e-19, 0.9999967824909858]
+- add_model:
+    name: living_room_print_2
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/print_1784931518/print.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_print_2::base_link
+    X_PC:
+      translation: [0.7112325764237117, 2.2, 1.4502774867818071]
+      rotation: !AngleAxis
+        angle_deg: 180.0
+        axis: [0.007936370451461032, 4.859625335114693e-19, 0.9999685065161089]
+- add_model:
+    name: living_room_mirror_0
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/mirror_1784931079/mirror.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_mirror_0::base_link
+    X_PC:
+      translation: [2.7, -1.3345973653283836, 1.4624781789005976]
+      rotation: !AngleAxis
+        angle_deg: 90.0019679198914
+        axis: [0.005860503550037745, -0.005860503550037743, 0.9999656539083132]
+- add_model:
+    name: living_room_clock_0
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/clock_1784931079/clock.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_clock_0::base_link
+    X_PC:
+      translation: [-2.7, -1.2, 1.7251622575853767]
+      rotation: !AngleAxis
+        angle_deg: 90.00000000000001
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: living_room_wall_shelf_0
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/wall_shelf_1784931126/wall_shelf.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_wall_shelf_0::base_link
+    X_PC:
+      translation: [-2.7, 1.1555540500730683, 1.1803426859993966]
+      rotation: !AngleAxis
+        angle_deg: 90.00004195117242
+        axis: [-0.0008556784135718508, -0.0008556784135718509, -0.9999992678141845]
+- add_model:
+    name: living_room_photograph_a_0
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/photograph_a_1784931079/photograph_a.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_photograph_a_0::base_link
+    X_PC:
+      translation: [0.020324541051207845, -2.2, 1.68]
+      rotation: !AngleAxis
+        angle_deg: 7.016709298534877e-15
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: living_room_photograph_a_1
+    file: package://scene/room_living_room/generated_assets/wall_mounted/sdf/photograph_a_1784931079/photograph_a.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_photograph_a_1::base_link
+    X_PC:
+      translation: [-0.012635672828865019, -2.2, 1.1005756767193313]
+      rotation: !AngleAxis
+        angle_deg: 0.16467633980207594
+        axis: [-6.123233995736767e-17, 1.0, -4.260906258130385e-14]
+- add_model:
+    name: living_room_semi_flush_light_0
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/semi_flush_light_1784932005/semi_flush_light.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_semi_flush_light_0::base_link
+    X_PC:
+      translation: [0.05997304255378202, 0.004233296705468596, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.3659626832738031
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: living_room_flush_mount_0
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/flush_mount_1784932061/flush_mount.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_flush_mount_0::base_link
+    X_PC:
+      translation: [1.9, 0.9, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.0
+        axis: [1.0, 0.0, 0.0]
+- add_model:
+    name: living_room_smoke_detector_0
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/smoke_detector_1784932005/smoke_detector.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_smoke_detector_0::base_link
+    X_PC:
+      translation: [-1.8, -1.6, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.0
+        axis: [1.0, 0.0, 0.0]
+- add_model:
+    name: living_room_downlight_puck_0
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/downlight_puck_1784932748/downlight_puck.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_downlight_puck_0::base_link
+    X_PC:
+      translation: [1.89031004080255, 1.2065829579736447, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.2680638260554089
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: living_room_downlight_puck_1
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/downlight_puck_1784932748/downlight_puck.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_downlight_puck_1::base_link
+    X_PC:
+      translation: [-1.9100959350692466, -1.1902092664922455, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.06788433298891244
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: living_room_track_lighting_0
+    file: package://scene/room_living_room/generated_assets/ceiling_mounted/sdf/track_lighting_1784932410/track_lighting.sdf
+- add_weld:
+    parent: room_living_room_frame
+    child: living_room_track_lighting_0::base_link
+    X_PC:
+      translation: [0.22908238521837837, 0.5970485047781984, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.8243957878550181
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: living_room_potted_succulent_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/potted_succulent_1784933142/potted_succulent.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-0.2719558646290001, -0.36380935568811623, 0.36082182333505536]
+        rotation: !AngleAxis
+          angle_deg: 24.691500695386534
+          axis: [0.000385018312992164, 0.0013250253695953342, -0.9999990480338812]
+- add_model:
+    name: living_room_tv_remote_control_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/tv_remote_control_1784933142/tv_remote_control.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [0.1967996827759828, -0.5980847402903275, 0.36987755324032295]
+        rotation: !AngleAxis
+          angle_deg: 90.08879967158762
+          axis: [0.9979417025741484, 0.04563447299025873, 0.045053891489097386]
+- add_model:
+    name: living_room_mug_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/mug_1784933217/mug.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [0.2586822028037992, -0.3335603052646769, 0.36099754646273563]
+        rotation: !AngleAxis
+          angle_deg: 23.517474120084138
+          axis: [0.0006367313372002875, -0.0004971068903794121, 0.9999996737289187]
+- add_model:
+    name: living_room_coffee_table_book_3_s0_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/coffee_table_book_1784934191/coffee_table_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-0.15171126532158466, -0.4931387340977864, 0.3599366957296856]
+        rotation: !AngleAxis
+          angle_deg: 9.669229647289614
+          axis: [0.01522885780721609, -0.0010553766621578813, 0.9998834772462183]
+- add_model:
+    name: living_room_coffee_table_book_4_s0_1
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/coffee_table_book_1784934191/coffee_table_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-0.15115734931332497, -0.49317866653729964, 0.37507219577927964]
+        rotation: !AngleAxis
+          angle_deg: 10.149072445672578
+          axis: [0.02400595716668198, -0.004206734587449368, 0.9997029645872929]
+- add_model:
+    name: living_room_hardcover_book_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784934661/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.5004994339970548, 0.23889157575656111, 1.3686362588879057]
+        rotation: !AngleAxis
+          angle_deg: 2.425659167116471
+          axis: [0.9976964209494987, 0.055741611284224564, -0.03866166571682017]
+- add_model:
+    name: living_room_hardcover_book_1
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784934629/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.502668330692345, 0.11851015544709936, 1.3653074186519163]
+        rotation: !AngleAxis
+          angle_deg: 1.381800477832402
+          axis: [-0.8203581487304552, 0.5225524053809145, -0.23227460352384766]
+- add_model:
+    name: living_room_hardcover_book_2
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784934489/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4995733484584055, -0.021291898264283734, 1.3658076667573056]
+        rotation: !AngleAxis
+          angle_deg: 1.2619146238310852
+          axis: [0.2680508507013817, 0.8550905524008391, 0.443811771625194]
+- add_model:
+    name: living_room_hardcover_book_3
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784934661/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.5008557342896007, -0.16592877786369564, 1.3660237409825549]
+        rotation: !AngleAxis
+          angle_deg: 1.1639833072783417
+          axis: [0.011523125016093273, 0.9970277115992442, 0.07617716122984632]
+- add_model:
+    name: living_room_hardcover_book_4
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784934629/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.492327629262295, -0.27087642353554514, 1.3680975502597668]
+        rotation: !AngleAxis
+          angle_deg: 6.53566313365624
+          axis: [-0.07447555064171638, 0.27510320835137125, 0.9585257519291774]
+- add_model:
+    name: living_room_coffee_table_book_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/coffee_table_book_1784934191/coffee_table_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4907639291001313, -0.011501191428991874, 1.0007556557173964]
+        rotation: !AngleAxis
+          angle_deg: 89.98373421436176
+          axis: [-0.01791445371413011, 0.016440326204084737, -0.9997043503068433]
+- add_model:
+    name: living_room_potted_succulent_1
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/potted_succulent_1784933142/potted_succulent.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.5595196509221108, -0.23963186845062692, 2.0891311652588946]
+        rotation: !AngleAxis
+          angle_deg: 90.27596099264835
+          axis: [0.019248936091900107, -0.0031496809884468692, -0.9998097608890408]
+- add_model:
+    name: living_room_hardcover_book_7
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784935372/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.507861952961135, 0.0943931151288729, 1.7308388346819348]
+        rotation: !AngleAxis
+          angle_deg: 2.246151253798582
+          axis: [0.7451199387202222, 0.661559250924679, 0.08447268456459653]
+- add_model:
+    name: living_room_modern_hardcover_book_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935372/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.5044114028134707, -0.05394571986450962, 1.731913256705824]
+        rotation: !AngleAxis
+          angle_deg: 6.129338841847953
+          axis: [0.0310171553249356, 0.19179507013636957, -0.9809447421475553]
+- add_model:
+    name: living_room_modern_hardcover_book_1
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935464/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.5069616982125424, -0.2058863472005314, 1.7317776888137035]
+        rotation: !AngleAxis
+          angle_deg: 1.232253957136898
+          axis: [0.010138866536622547, 0.9266237613653424, 0.3758531738039437]
+- add_model:
+    name: living_room_hardcover_book_8
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784935372/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4661898402667313, 0.2274248760919873, 0.16204832319826637]
+        rotation: !AngleAxis
+          angle_deg: 10.376481961551782
+          axis: [0.004148118912885344, 0.12423698173177834, 0.9922439042290269]
+- add_model:
+    name: living_room_modern_hardcover_book_2
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935464/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4679327030772664, 0.051629734634802936, 0.16012034194374283]
+        rotation: !AngleAxis
+          angle_deg: 0.8206361761321912
+          axis: [0.014645182905184814, 0.9024917409265005, 0.4304581003734604]
+- add_model:
+    name: living_room_modern_hardcover_book_3
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935372/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.467397148643391, -0.10129119039345803, 0.16029922761027798]
+        rotation: !AngleAxis
+          angle_deg: 0.5106783302098832
+          axis: [0.4800261393879725, 0.1145666636936924, -0.8697409873487479]
+- add_model:
+    name: living_room_hardcover_book_9
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784935372/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4674380197202184, -0.2807693163021649, 0.159967819750891]
+        rotation: !AngleAxis
+          angle_deg: 1.1806119160920154
+          axis: [0.11480723202680271, -0.08182582327053141, 0.9900120373613867]
+- add_model:
+    name: living_room_hardcover_book_a
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784935372/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4834268535449677, 0.24744357395019734, 0.6247575850888887]
+        rotation: !AngleAxis
+          angle_deg: 1.2547039230700892
+          axis: [0.025465207469923982, 0.15651409318100376, 0.9873473866093139]
+- add_model:
+    name: living_room_hardcover_book_b
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/hardcover_book_1784935372/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4822361273703306, 0.08932409825691269, 0.6248466952873809]
+        rotation: !AngleAxis
+          angle_deg: 1.3328423260186177
+          axis: [-0.1981643008978902, 0.3359780602373931, 0.9207875177741981]
+- add_model:
+    name: living_room_modern_hardcover_book_4
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935372/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.484082474629669, -0.05851858694456356, 0.626283545246541]
+        rotation: !AngleAxis
+          angle_deg: 0.7229147102640754
+          axis: [0.32802171335814273, -0.9347304120815059, -0.13667776810998464]
+- add_model:
+    name: living_room_modern_hardcover_book_5
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/modern_hardcover_book_1784935464/modern_hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [-2.4849311514951813, -0.20928278613855755, 0.626032880503327]
+        rotation: !AngleAxis
+          angle_deg: 0.4387954205247876
+          axis: [0.010893695913742465, -0.8435846907634136, 0.5368856460168542]
+- add_model:
+    name: living_room_potted_succulent_2
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/potted_succulent_1784933142/potted_succulent.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [1.9093158574523177, -0.2461913474947322, 0.4911872454240464]
+        rotation: !AngleAxis
+          angle_deg: 12.521546185662263
+          axis: [-0.0005031525697700566, -3.3148618338795024e-05, 0.9999998728693222]
+- add_model:
+    name: living_room_cork_coaster_0_s1_0
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/cork_coaster_1784933858/cork_coaster.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [1.7728355373202167, -0.1250535858848512, 0.49120576700784746]
+        rotation: !AngleAxis
+          angle_deg: 7.64154367308723
+          axis: [0.0011829259870158916, -0.0008895064010658783, 0.999998904731636]
+- add_model:
+    name: living_room_mug_0_s1_1
+    file: package://scene/room_living_room/generated_assets/manipuland/sdf/mug_1784933217/mug.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_living_room_frame
+        translation: [1.772825147653201, -0.12505362907908127, 0.49912797772538886]
+        rotation: !AngleAxis
+          angle_deg: 7.663916185360848
+          axis: [0.005679368854481538, -0.05705631292283175, 0.998354807633572]
+- add_weld:
+    parent: room_living_room_frame
+    child: room_geometry_living_room::room_geometry_body_link

scenes/scene_03_kitchen_dining/flythrough.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfeefceb50746ce9872443d2305a4579a02456d76a3dbd18ccd25716011c0d4b
+size 1080995

scenes/scene_03_kitchen_dining/sim_files/house.dmd.yaml

@@ -0,0 +1,336 @@
+directives:
+- add_frame:
+    name: house_frame
+    X_PF:
+      base_frame: world
+      translation: [0, 0, 0]
+- add_frame:
+    name: room_bedroom_frame
+    X_PF:
+      base_frame: house_frame
+      translation: [2.4, 2.0, 0]
+- add_model:
+    name: room_geometry_bedroom
+    file: package://scene/room_geometry/room_geometry_bedroom.sdf
+- add_model:
+    name: bedroom_bed_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/bed_1784928125/bed.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [-0.01866377082576403, -1.1332067278145688, -0.0017243265869725016]
+        rotation: !AngleAxis
+          angle_deg: 0.023669830670489094
+          axis: [-0.9998101782238141, -0.019470476642444088, 0.0007127828427938962]
+- add_model:
+    name: bedroom_nightstand_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/nightstand_1784927893/cabinet_10.sdf
+    default_free_body_pose:
+      E_body_3:
+        base_frame: room_bedroom_frame
+        translation: [-0.9956507999383577, -1.7792800000000002, 0.0]
+        rotation: !AngleAxis
+          angle_deg: 0.0
+          axis: [1.0, 0.0, 0.0]
+- add_model:
+    name: bedroom_nightstand_1
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/nightstand_1784927893/cabinet_10.sdf
+    default_free_body_pose:
+      E_body_3:
+        base_frame: room_bedroom_frame
+        translation: [1.0549820618719026, -1.7792800000000002, 0.0]
+        rotation: !AngleAxis
+          angle_deg: 0.0
+          axis: [1.0, 0.0, 0.0]
+- add_model:
+    name: bedroom_rug_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/rug_1784927884/rug.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_rug_0::base_link
+    X_PC:
+      translation: [-0.012571702526178535, -0.11656919850188306, 0.0]
+      rotation: !AngleAxis
+        angle_deg: 0.7597863482556798
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_wardrobe_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/wardrobe_1784927916/model_refrigerator_1.sdf
+    default_free_body_pose:
+      E_body_16:
+        base_frame: room_bedroom_frame
+        translation: [-1.6841701464258192, 1.5892800000000002, 0.0010000000000000555]
+        rotation: !AngleAxis
+          angle_deg: 180.0
+          axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: bedroom_writing_desk_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/writing_desk_1784927940/model_table_2.sdf
+    default_free_body_pose:
+      E_body_1:
+        base_frame: room_bedroom_frame
+        translation: [0.46708434432229146, 0.9934667289870218, -0.0204104735217724]
+        rotation: !AngleAxis
+          angle_deg: 120.02782687675109
+          axis: [-0.025501770895666073, -0.04373646819907065, 0.9987175681996671]
+- add_model:
+    name: bedroom_office_chair_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/office_chair_1784927883/office_chair.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.19473136282247955, 0.4756605910902404, -0.0031936129844323214]
+        rotation: !AngleAxis
+          angle_deg: 0.23655665407218843
+          axis: [0.5923715062594059, -0.8044919669850424, -0.043458872839732245]
+- add_model:
+    name: bedroom_dresser_0
+    file: package://scene/room_bedroom/generated_assets/furniture/sdf/dresser_1784928990/dresser.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [2.038678993506785, -1.463446301715666, -0.0005532650671692047]
+        rotation: !AngleAxis
+          angle_deg: 90.01156075203993
+          axis: [0.0031512229050758285, 0.004855459297192662, 0.9999832470142765]
+- add_model:
+    name: bedroom_diptych_panel_0
+    file: package://scene/room_bedroom/generated_assets/wall_mounted/sdf/diptych_panel_1784930556/diptych_panel.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_diptych_panel_0::base_link
+    X_PC:
+      translation: [0.7227939244615968, -1.95, 1.46]
+      rotation: !AngleAxis
+        angle_deg: 7.016709298534877e-15
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_diptych_panel_1
+    file: package://scene/room_bedroom/generated_assets/wall_mounted/sdf/diptych_panel_1784930556/diptych_panel.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_diptych_panel_1::base_link
+    X_PC:
+      translation: [-0.7662567293630658, -1.95, 1.46]
+      rotation: !AngleAxis
+        angle_deg: 7.016709298534877e-15
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_mirror_0
+    file: package://scene/room_bedroom/generated_assets/wall_mounted/sdf/mirror_1784930556/mirror.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_mirror_0::base_link
+    X_PC:
+      translation: [2.35, -1.6, 1.65]
+      rotation: !AngleAxis
+        angle_deg: 90.0
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: bedroom_photograph_0
+    file: package://scene/room_bedroom/generated_assets/wall_mounted/sdf/photograph_1784930784/photograph.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_photograph_0::base_link
+    X_PC:
+      translation: [-2.35, 1.0, 1.38]
+      rotation: !AngleAxis
+        angle_deg: 90.00000000000001
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_flush_mount_0
+    file: package://scene/room_bedroom/generated_assets/ceiling_mounted/sdf/flush_mount_1784932699/flush_mount.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_flush_mount_0::base_link
+    X_PC:
+      translation: [0.05997304255378202, 0.004233296705468596, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 0.3659626832738031
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_puck_downlight_0
+    file: package://scene/room_bedroom/generated_assets/ceiling_mounted/sdf/puck_downlight_1784932253/puck_downlight.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_puck_downlight_0::base_link
+    X_PC:
+      translation: [1.7, 0.6, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 10.0
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: bedroom_ceiling_downlight_0
+    file: package://scene/room_bedroom/generated_assets/ceiling_mounted/sdf/ceiling_downlight_1784931667/ceiling_downlight.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_ceiling_downlight_0::base_link
+    X_PC:
+      translation: [1.7, -0.6, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 25.0
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: bedroom_ceiling_downlight_1
+    file: package://scene/room_bedroom/generated_assets/ceiling_mounted/sdf/ceiling_downlight_1784931667/ceiling_downlight.sdf
+- add_weld:
+    parent: room_bedroom_frame
+    child: bedroom_ceiling_downlight_1::base_link
+    X_PC:
+      translation: [-0.9372052765212553, 1.3603847446990311, 2.5]
+      rotation: !AngleAxis
+        angle_deg: 159.67753809217245
+        axis: [0.0, -0.0, -1.0]
+- add_model:
+    name: bedroom_hardcover_book_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/hardcover_book_1784933257/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [-1.0357318772385884, -1.7028390691008537, 0.42321877158591303]
+        rotation: !AngleAxis
+          angle_deg: 19.471235569383946
+          axis: [-0.03804313446908547, 0.007665404628124082, 0.9992466970131321]
+- add_model:
+    name: bedroom_smartphone_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/smartphone_1784933257/smartphone.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [-1.1368614617091264, -1.7547327905885963, 0.42728026064579616]
+        rotation: !AngleAxis
+          angle_deg: 89.96587468835949
+          axis: [0.9825212000457366, 0.1314945041395691, 0.13176223602297651]
+- add_model:
+    name: bedroom_table_lamp_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/table_lamp_1784933893/table_lamp.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [-0.8906626189010503, -1.8233993902569188, 0.42350835269779724]
+        rotation: !AngleAxis
+          angle_deg: 2.4293345803121977
+          axis: [-0.016463960173613207, 0.011419536386572143, -0.9997992459509647]
+- add_model:
+    name: bedroom_hardcover_book_1
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/hardcover_book_1784933257/hardcover_book.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.9291584119497686, -1.7197866494847867, 0.42341480305206514]
+        rotation: !AngleAxis
+          angle_deg: 8.976618638778167
+          axis: [-0.08368604511968405, 0.021492660826552306, 0.9962603632498992]
+- add_model:
+    name: bedroom_digital_alarm_clock_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/digital_alarm_clock_1784934404/digital_alarm_clock.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.969594303261226, -1.8654671551264306, 0.4234523556042519]
+        rotation: !AngleAxis
+          angle_deg: 8.268658805427378
+          axis: [-0.002087125076558658, 0.021243880310596274, 0.999772144770129]
+- add_model:
+    name: bedroom_smartphone_1
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/smartphone_1784933257/smartphone.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [1.0386080602799448, -1.774728149420208, 0.455054995715805]
+        rotation: !AngleAxis
+          angle_deg: 98.15607558713418
+          axis: [0.8026379806780481, 0.4745917257883678, -0.36129622996411676]
+- add_model:
+    name: bedroom_bedside_table_lamp_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/bedside_table_lamp_1784935034/bedside_table_lamp.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [1.1471475518293344, -1.840861826323017, 0.4240738174922402]
+        rotation: !AngleAxis
+          angle_deg: 13.296165683547107
+          axis: [0.0342892637068697, 0.0038084923078376873, -0.9994046936955929]
+- add_model:
+    name: bedroom_laptop_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/laptop_1784936404/laptop.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.3672873623214637, 1.1010281336336336, 0.7630576629679479]
+        rotation: !AngleAxis
+          angle_deg: 112.72962256118996
+          axis: [-0.0005717091895483775, -0.004716038516694947, 0.9999887160009916]
+- add_model:
+    name: bedroom_spiral_notebook_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/spiral_notebook_1784935648/spiral_notebook.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.5791400837722098, 0.6517949056388102, 0.761870813214312]
+        rotation: !AngleAxis
+          angle_deg: 125.82577838662101
+          axis: [-0.00019015298286845299, 0.008628769840594745, 0.9999627533927856]
+- add_model:
+    name: bedroom_ballpoint_pen_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/ballpoint_pen_1784935648/ballpoint_pen.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.5009039767758124, 0.7050558226842412, 0.7676711406575127]
+        rotation: !AngleAxis
+          angle_deg: 143.7191446536518
+          axis: [0.5850228688530027, 0.463549052620058, 0.665485175442736]
+- add_model:
+    name: bedroom_jewelry_dish_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/jewelry_dish_1784936966/jewelry_dish.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [1.9652223245600218, -1.5544485679031603, 1.2876920554467084]
+        rotation: !AngleAxis
+          angle_deg: 100.15097115928636
+          axis: [0.00933310558353604, 0.0058543300428604, 0.9999393081382069]
+- add_model:
+    name: bedroom_perfume_bottle_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/perfume_bottle_1784936966/perfume_bottle.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [2.0275582134768535, -1.4438802706599594, 1.286765355982717]
+        rotation: !AngleAxis
+          angle_deg: 77.28460258450707
+          axis: [0.0022867492167588494, 0.00974429220485837, 0.9999499085191448]
+- add_model:
+    name: bedroom_digital_alarm_clock_1
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/digital_alarm_clock_1784934404/digital_alarm_clock.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [1.9606804983945307, -1.3890166575531475, 1.2864015085720266]
+        rotation: !AngleAxis
+          angle_deg: 125.35144637316034
+          axis: [4.081726950601911e-05, 0.00773145797537743, 0.9999701109990865]
+- add_model:
+    name: bedroom_paperback_novel_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/paperback_novel_1784938057/paperback_novel.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [0.29928854102471136, -0.5987725553884021, 0.486133291453858]
+        rotation: !AngleAxis
+          angle_deg: 10.368973991853053
+          axis: [-0.13407451960196592, 0.003042508764604819, -0.9909665818451798]
+- add_model:
+    name: bedroom_throw_blanket_0
+    file: package://scene/room_bedroom/generated_assets/manipuland/sdf/throw_blanket_1784938481/throw_blanket.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_bedroom_frame
+        translation: [-0.26707280129930416, -0.6371747137818314, 0.4889819445912722]
+        rotation: !AngleAxis
+          angle_deg: 2.0361395776874174
+          axis: [-0.7349029210507547, 0.0868796745364513, 0.6725842837767683]
+- add_weld:
+    parent: room_bedroom_frame
+    child: room_geometry_bedroom::room_geometry_body_link

scenes/scene_04_tabletop_kitchen/flythrough.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:505e0982fe1d1297bbf8c8df7b7b8a4c803db78d2a7787c22d8cfbb22f492567
+size 1350913

scenes/scene_04_tabletop_kitchen/sim_files/house.dmd.yaml

@@ -0,0 +1,218 @@
+directives:
+- add_frame:
+    name: house_frame
+    X_PF:
+      base_frame: world
+      translation: [0, 0, 0]
+- add_frame:
+    name: room_kitchen_frame
+    X_PF:
+      base_frame: house_frame
+      translation: [2.0, 1.75, 0]
+- add_model:
+    name: room_geometry_kitchen
+    file: package://scene/room_geometry/room_geometry_kitchen.sdf
+- add_model:
+    name: kitchen_kitchen_base_cabinet_0
+    file: package://scene/room_kitchen/generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf
+    default_free_body_pose:
+      E_body_1:
+        base_frame: room_kitchen_frame
+        translation: [-0.01827898374319453, 1.4389302069066523, -0.000158349091380913]
+        rotation: !AngleAxis
+          angle_deg: 179.99990116540602
+          axis: [7.753840223407015e-05, -0.0003145827311023256, 0.9999999475127493]
+- add_model:
+    name: kitchen_kitchen_base_cabinet_1
+    file: package://scene/room_kitchen/generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf
+    default_free_body_pose:
+      E_body_1:
+        base_frame: room_kitchen_frame
+        translation: [-0.5324349331493353, 1.4389194824174074, -0.00015834909320368596]
+        rotation: !AngleAxis
+          angle_deg: 179.99985308097985
+          axis: [7.753826768048111e-05, -0.0003145827545241524, 0.9999999475127525]
+- add_model:
+    name: kitchen_kitchen_base_cabinet_2
+    file: package://scene/room_kitchen/generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf
+    default_free_body_pose:
+      E_body_1:
+        base_frame: room_kitchen_frame
+        translation: [0.5079631483483151, 1.4389194824174134, -0.0001583490932036863]
+        rotation: !AngleAxis
+          angle_deg: 179.99985308097985
+          axis: [7.753826768047734e-05, -0.0003145827545241529, 0.9999999475127525]
+- add_model:
+    name: kitchen_clock_0
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/clock_1784930236/clock.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_clock_0::base_link
+    X_PC:
+      translation: [1.3814326263269803, -1.7, 1.6520524949266702]
+      rotation: !AngleAxis
+        angle_deg: 0.850188790496006
+        axis: [6.123233995736766e-17, -1.0, -8.252967610628828e-15]
+- add_model:
+    name: kitchen_wall_rail_0
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_wall_rail_0::base_link
+    X_PC:
+      translation: [-0.7999999999999998, -1.7, 1.22]
+      rotation: !AngleAxis
+        angle_deg: 7.016709298534877e-15
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: kitchen_botanical_print_0
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_botanical_print_0::base_link
+    X_PC:
+      translation: [-1.95, -1.2238080610494229, 1.5449543695910457]
+      rotation: !AngleAxis
+        angle_deg: 90.00100021267717
+        axis: [-0.004178121550905736, -0.004178121550905737, -0.9999825431479351]
+- add_model:
+    name: kitchen_botanical_print_1
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_botanical_print_1::base_link
+    X_PC:
+      translation: [-1.95, 1.2007123645449336, 1.5611175703519948]
+      rotation: !AngleAxis
+        angle_deg: 90.00120170269946
+        axis: [-0.004579653791328321, -0.004579653791328321, -0.9999790265512088]
+- add_model:
+    name: kitchen_picture_ledge_shelf_0
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_picture_ledge_shelf_0::base_link
+    X_PC:
+      translation: [-1.4, 1.7, 1.18]
+      rotation: !AngleAxis
+        angle_deg: 180.0
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: kitchen_picture_ledge_shelf_1
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_picture_ledge_shelf_1::base_link
+    X_PC:
+      translation: [1.4, 1.7, 1.18]
+      rotation: !AngleAxis
+        angle_deg: 180.0
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: kitchen_wall_rail_1
+    file: package://scene/room_kitchen/generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_wall_rail_1::base_link
+    X_PC:
+      translation: [1.95, 1.2827479838502627, 1.1078260374913464]
+      rotation: !AngleAxis
+        angle_deg: 90.00006116091674
+        axis: [-0.001033178702625162, 0.0010331787026251617, 0.9999989325411988]
+- add_model:
+    name: kitchen_ceiling_panel_light_0
+    file: package://scene/room_kitchen/generated_assets/ceiling_mounted/sdf/ceiling_panel_light_1784931454/ceiling_panel_light.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_ceiling_panel_light_0::base_link
+    X_PC:
+      translation: [0.05997304255378202, 0.004233296705468596, 2.7]
+      rotation: !AngleAxis
+        angle_deg: 0.36596268327380294
+        axis: [0.0, 0.0, -1.0]
+- add_model:
+    name: kitchen_pendant_light_0
+    file: package://scene/room_kitchen/generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_pendant_light_0::base_link
+    X_PC:
+      translation: [-0.6255178815291433, 1.0726169122762486, 2.7]
+      rotation: !AngleAxis
+        angle_deg: 0.5053790913723885
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: kitchen_pendant_light_1
+    file: package://scene/room_kitchen/generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_pendant_light_1::base_link
+    X_PC:
+      translation: [0.5943518757180484, 1.0664621083163641, 2.7]
+      rotation: !AngleAxis
+        angle_deg: 0.11830244313157168
+        axis: [0.0, 0.0, 1.0]
+- add_model:
+    name: kitchen_track_lighting_0
+    file: package://scene/room_kitchen/generated_assets/ceiling_mounted/sdf/track_lighting_1784931168/track_lighting.sdf
+- add_weld:
+    parent: room_kitchen_frame
+    child: kitchen_track_lighting_0::base_link
+    X_PC:
+      translation: [0.0, 0.55, 2.7]
+      rotation: !AngleAxis
+        angle_deg: 0.0
+        axis: [1.0, 0.0, 0.0]
+- add_model:
+    name: kitchen_fruit_bowl_0
+    file: package://scene/room_kitchen/generated_assets/manipuland/sdf/fruit_bowl_1784935318/fruit_bowl.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_kitchen_frame
+        translation: [-0.02466380916131876, 1.401381727839023, 0.7624714142718474]
+        rotation: !AngleAxis
+          angle_deg: 166.49472411736005
+          axis: [-0.0004813092802800879, 0.00016681220669801392, -0.9999998702575238]
+- add_model:
+    name: kitchen_cutting_board_0
+    file: package://scene/room_kitchen/generated_assets/manipuland/sdf/cutting_board_1784938618/cutting_board.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_kitchen_frame
+        translation: [-0.46348070676535497, 1.4152133825600877, 0.7619993420744462]
+        rotation: !AngleAxis
+          angle_deg: 93.79705804968361
+          axis: [0.012076645112044291, 0.007479480758204714, -0.9998991009149001]
+- add_model:
+    name: kitchen_butter_knife_0
+    file: package://scene/room_kitchen/generated_assets/manipuland/sdf/butter_knife_1784938618/butter_knife.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_kitchen_frame
+        translation: [-0.5575516892829723, 1.3862891383552918, 0.7663754834831555]
+        rotation: !AngleAxis
+          angle_deg: 116.33450681449581
+          axis: [-0.5845348035790652, 0.5625222528586052, -0.5847117054101646]
+- add_model:
+    name: kitchen_herb_planter_pot_0
+    file: package://scene/room_kitchen/generated_assets/manipuland/sdf/herb_planter_pot_1784940348/herb_planter_pot.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_kitchen_frame
+        translation: [0.6701141047349091, 1.6278306271372436, 0.7624311889203367]
+        rotation: !AngleAxis
+          angle_deg: 171.281927460423
+          axis: [0.00023802738519387935, 0.00011911215793127745, 0.9999999645776283]
+- add_model:
+    name: kitchen_glass_tumbler_1
+    file: package://scene/room_kitchen/generated_assets/manipuland/sdf/glass_tumbler_1784940956/glass_tumbler.sdf
+    default_free_body_pose:
+      base_link:
+        base_frame: room_kitchen_frame
+        translation: [0.4120348232600179, 1.2758325423775079, 0.7624591336744577]
+        rotation: !AngleAxis
+          angle_deg: 177.2855826384821
+          axis: [6.465417854263029e-05, 4.540122080970796e-05, -0.9999999968792831]
+- add_weld:
+    parent: room_kitchen_frame
+    child: room_geometry_kitchen::room_geometry_body_link

scenes/scene_04_tabletop_kitchen/sim_files/house_state.json

@@ -0,0 +1,2314 @@
+{
+  "layout": {
+    "wall_height": 2.7,
+    "house_prompt": "A kitchen countertop workspace with a wooden cutting board a ceramic bowl with apples and oranges a glass of water a butter knife and a small herb plant pot on the counter",
+    "rooms": [
+      {
+        "id": "kitchen",
+        "type": "kitchen",
+        "position": [
+          0.0,
+          0.0
+        ],
+        "width": 3.5,
+        "length": 4.0,
+        "prompt": "A kitchen countertop workspace with a wooden cutting board a ceramic bowl with apples and oranges a glass of water a butter knife and a small herb plant pot on the counter",
+        "connections": {},
+        "exterior_walls": []
+      }
+    ],
+    "placed_rooms": [
+      {
+        "room_id": "kitchen",
+        "position": [
+          0.0,
+          0.0
+        ],
+        "width": 4.0,
+        "depth": 3.5,
+        "walls": [
+          {
+            "wall_id": "kitchen_north",
+            "room_id": "kitchen",
+            "direction": "north",
+            "start_point": [
+              0.0,
+              3.5
+            ],
+            "end_point": [
+              4.0,
+              3.5
+            ],
+            "length": 4.0,
+            "is_exterior": true,
+            "faces_rooms": [],
+            "openings": [
+              {
+                "opening_id": "window_1",
+                "opening_type": "window",
+                "position_along_wall": 1.1482799466459777,
+                "width": 1.8,
+                "height": 1.2,
+                "sill_height": 0.9
+              }
+            ]
+          },
+          {
+            "wall_id": "kitchen_south",
+            "room_id": "kitchen",
+            "direction": "south",
+            "start_point": [
+              0.0,
+              0.0
+            ],
+            "end_point": [
+              4.0,
+              0.0
+            ],
+            "length": 4.0,
+            "is_exterior": true,
+            "faces_rooms": [],
+            "openings": [
+              {
+                "opening_id": "door_1",
+                "opening_type": "door",
+                "position_along_wall": 1.5735741860215315,
+                "width": 0.9,
+                "height": 2.1,
+                "sill_height": 0.0
+              }
+            ]
+          },
+          {
+            "wall_id": "kitchen_east",
+            "room_id": "kitchen",
+            "direction": "east",
+            "start_point": [
+              4.0,
+              0.0
+            ],
+            "end_point": [
+              4.0,
+              3.5
+            ],
+            "length": 3.5,
+            "is_exterior": true,
+            "faces_rooms": [],
+            "openings": [
+              {
+                "opening_id": "window_2",
+                "opening_type": "window",
+                "position_along_wall": 1.1776807934742952,
+                "width": 1.2,
+                "height": 1.2,
+                "sill_height": 0.9
+              }
+            ]
+          },
+          {
+            "wall_id": "kitchen_west",
+            "room_id": "kitchen",
+            "direction": "west",
+            "start_point": [
+              0.0,
+              0.0
+            ],
+            "end_point": [
+              0.0,
+              3.5
+            ],
+            "length": 3.5,
+            "is_exterior": true,
+            "faces_rooms": [],
+            "openings": [
+              {
+                "opening_id": "window_3",
+                "opening_type": "window",
+                "position_along_wall": 1.1217368949358284,
+                "width": 1.2,
+                "height": 1.2,
+                "sill_height": 0.9
+              }
+            ]
+          }
+        ]
+      }
+    ],
+    "doors": [
+      {
+        "id": "door_1",
+        "boundary_label": "B",
+        "position_segment": "center",
+        "position_exact": 1.5735741860215315,
+        "door_type": "exterior",
+        "room_a": "kitchen",
+        "room_b": null,
+        "width": 0.9,
+        "height": 2.1
+      }
+    ],
+    "windows": [
+      {
+        "id": "window_1",
+        "boundary_label": "A",
+        "position_along_wall": 1.1482799466459777,
+        "room_id": "kitchen",
+        "wall_direction": "north",
+        "width": 1.8,
+        "height": 1.2,
+        "sill_height": 0.9
+      },
+      {
+        "id": "window_2",
+        "boundary_label": "C",
+        "position_along_wall": 1.1776807934742952,
+        "room_id": "kitchen",
+        "wall_direction": "east",
+        "width": 1.2,
+        "height": 1.2,
+        "sill_height": 0.9
+      },
+      {
+        "id": "window_3",
+        "boundary_label": "D",
+        "position_along_wall": 1.1217368949358284,
+        "room_id": "kitchen",
+        "wall_direction": "west",
+        "width": 1.2,
+        "height": 1.2,
+        "sill_height": 0.9
+      }
+    ],
+    "room_materials": {
+      "kitchen": {
+        "wall_material": {
+          "path": "/lustre/fs12/portfolios/nvr/projects/nvr_lpr_rvp/users/jtremblay/scenesmith/outputs/2026-07-24/14-20-00/scene_000/materials/Plaster002",
+          "material_id": "Plaster002",
+          "texture_scale": null
+        },
+        "floor_material": {
+          "path": "/lustre/fs12/portfolios/nvr/projects/nvr_lpr_rvp/users/jtremblay/scenesmith/outputs/2026-07-24/14-20-00/scene_000/materials/PavingStones142",
+          "material_id": "PavingStones142",
+          "texture_scale": null
+        }
+      }
+    },
+    "exterior_material": {
+      "path": "/lustre/fs12/portfolios/nvr/projects/nvr_lpr_rvp/users/jtremblay/scenesmith/outputs/2026-07-24/14-20-00/scene_000/materials/PaintedPlaster017",
+      "material_id": "PaintedPlaster017",
+      "texture_scale": null
+    },
+    "placement_valid": true,
+    "connectivity_valid": true,
+    "boundary_labels": {
+      "A": [
+        "kitchen",
+        null,
+        "north"
+      ],
+      "B": [
+        "kitchen",
+        null,
+        "south"
+      ],
+      "C": [
+        "kitchen",
+        null,
+        "east"
+      ],
+      "D": [
+        "kitchen",
+        null,
+        "west"
+      ]
+    },
+    "room_geometries": {
+      "kitchen": {
+        "sdf_path": "room_geometry/room_geometry_kitchen.sdf",
+        "walls": [
+          {
+            "object_id": "north_wall",
+            "object_type": "wall",
+            "name": "north_wall",
+            "description": "Room north_wall",
+            "transform": {
+              "translation": [
+                0.0,
+                1.725,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -2.0,
+              -0.025,
+              -1.35
+            ],
+            "bbox_max": [
+              2.0,
+              0.025,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "south_wall",
+            "object_type": "wall",
+            "name": "south_wall",
+            "description": "Room south_wall",
+            "transform": {
+              "translation": [
+                0.0,
+                -1.725,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -2.0,
+              -0.025,
+              -1.35
+            ],
+            "bbox_max": [
+              2.0,
+              0.025,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "east_wall",
+            "object_type": "wall",
+            "name": "east_wall",
+            "description": "Room east_wall",
+            "transform": {
+              "translation": [
+                1.975,
+                0.0,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -0.025,
+              -1.75,
+              -1.35
+            ],
+            "bbox_max": [
+              0.025,
+              1.75,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "west_wall",
+            "object_type": "wall",
+            "name": "west_wall",
+            "description": "Room west_wall",
+            "transform": {
+              "translation": [
+                -1.975,
+                0.0,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -0.025,
+              -1.75,
+              -1.35
+            ],
+            "bbox_max": [
+              0.025,
+              1.75,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          }
+        ],
+        "width": 3.5,
+        "length": 4.0,
+        "wall_height": 2.7,
+        "wall_thickness": 0.05,
+        "openings": [
+          {
+            "opening_id": "window_1",
+            "opening_type": "window",
+            "wall_direction": "north",
+            "center_world": [
+              0.04827994664597757,
+              1.75,
+              1.5
+            ],
+            "width": 1.8,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              -0.8517200533540223,
+              1.25,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              0.9482799466459775,
+              1.75,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              1.75
+            ],
+            "wall_end": [
+              2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1482799466459777
+          },
+          {
+            "opening_id": "door_1",
+            "opening_type": "door",
+            "wall_direction": "south",
+            "center_world": [
+              0.023574186021531496,
+              -1.75,
+              1.05
+            ],
+            "width": 0.9,
+            "sill_height": 0.0,
+            "height": 2.1,
+            "clearance_bbox_min": [
+              -0.42642581397846846,
+              -1.75,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              0.4735741860215317,
+              -0.95,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              -1.75
+            ],
+            "wall_end": [
+              2.0,
+              -1.75
+            ],
+            "position_along_wall": 1.5735741860215315
+          },
+          {
+            "opening_id": "window_2",
+            "opening_type": "window",
+            "wall_direction": "east",
+            "center_world": [
+              2.0,
+              0.027680793474295307,
+              1.5
+            ],
+            "width": 1.2,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              1.5,
+              -0.5723192065257048,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              2.0,
+              0.6276807934742954,
+              2.1
+            ],
+            "wall_start": [
+              2.0,
+              -1.75
+            ],
+            "wall_end": [
+              2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1776807934742952
+          },
+          {
+            "opening_id": "window_3",
+            "opening_type": "window",
+            "wall_direction": "west",
+            "center_world": [
+              -2.0,
+              -0.028263105064171512,
+              1.5
+            ],
+            "width": 1.2,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              -2.0,
+              -0.6282631050641716,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              -1.5,
+              0.5717368949358286,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              -1.75
+            ],
+            "wall_end": [
+              -2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1217368949358284
+          }
+        ],
+        "floor": {
+          "object_id": "floor_kitchen",
+          "object_type": "floor",
+          "name": "Floor",
+          "description": "Floor surface",
+          "transform": {
+            "translation": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": "floor_plans/kitchen/floors/floor.gltf",
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -2.0,
+            -1.75,
+            -0.1
+          ],
+          "bbox_max": [
+            2.0,
+            1.75,
+            0.0
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "wall_normals": {
+          "north_wall": [
+            0.0,
+            -1.0
+          ],
+          "south_wall": [
+            0.0,
+            1.0
+          ],
+          "east_wall": [
+            -1.0,
+            0.0
+          ],
+          "west_wall": [
+            1.0,
+            0.0
+          ]
+        }
+      }
+    }
+  },
+  "rooms": {
+    "kitchen": {
+      "room_geometry": {
+        "sdf_path": "/lustre/fs12/portfolios/nvr/projects/nvr_lpr_rvp/users/jtremblay/scenesmith/outputs/2026-07-24/14-20-00/scene_000/room_geometry/room_geometry_kitchen.sdf",
+        "walls": [
+          {
+            "object_id": "north_wall",
+            "object_type": "wall",
+            "name": "north_wall",
+            "description": "Room north_wall",
+            "transform": {
+              "translation": [
+                0.0,
+                1.725,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -2.0,
+              -0.025,
+              -1.35
+            ],
+            "bbox_max": [
+              2.0,
+              0.025,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "south_wall",
+            "object_type": "wall",
+            "name": "south_wall",
+            "description": "Room south_wall",
+            "transform": {
+              "translation": [
+                0.0,
+                -1.725,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -2.0,
+              -0.025,
+              -1.35
+            ],
+            "bbox_max": [
+              2.0,
+              0.025,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "east_wall",
+            "object_type": "wall",
+            "name": "east_wall",
+            "description": "Room east_wall",
+            "transform": {
+              "translation": [
+                1.975,
+                0.0,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -0.025,
+              -1.75,
+              -1.35
+            ],
+            "bbox_max": [
+              0.025,
+              1.75,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          },
+          {
+            "object_id": "west_wall",
+            "object_type": "wall",
+            "name": "west_wall",
+            "description": "Room west_wall",
+            "transform": {
+              "translation": [
+                -1.975,
+                0.0,
+                1.35
+              ],
+              "rotation_wxyz": [
+                1.0,
+                0.0,
+                0.0,
+                0.0
+              ]
+            },
+            "geometry_path": null,
+            "sdf_path": null,
+            "image_path": null,
+            "support_surfaces": [],
+            "placement_info": null,
+            "metadata": {},
+            "bbox_min": [
+              -0.025,
+              -1.75,
+              -1.35
+            ],
+            "bbox_max": [
+              0.025,
+              1.75,
+              1.35
+            ],
+            "immutable": true,
+            "scale_factor": 1.0
+          }
+        ],
+        "width": 3.5,
+        "length": 4.0,
+        "wall_height": 2.7,
+        "wall_thickness": 0.05,
+        "openings": [
+          {
+            "opening_id": "window_1",
+            "opening_type": "window",
+            "wall_direction": "north",
+            "center_world": [
+              0.04827994664597757,
+              1.75,
+              1.5
+            ],
+            "width": 1.8,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              -0.8517200533540223,
+              1.25,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              0.9482799466459775,
+              1.75,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              1.75
+            ],
+            "wall_end": [
+              2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1482799466459777
+          },
+          {
+            "opening_id": "door_1",
+            "opening_type": "door",
+            "wall_direction": "south",
+            "center_world": [
+              0.023574186021531496,
+              -1.75,
+              1.05
+            ],
+            "width": 0.9,
+            "sill_height": 0.0,
+            "height": 2.1,
+            "clearance_bbox_min": [
+              -0.42642581397846846,
+              -1.75,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              0.4735741860215317,
+              -0.95,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              -1.75
+            ],
+            "wall_end": [
+              2.0,
+              -1.75
+            ],
+            "position_along_wall": 1.5735741860215315
+          },
+          {
+            "opening_id": "window_2",
+            "opening_type": "window",
+            "wall_direction": "east",
+            "center_world": [
+              2.0,
+              0.027680793474295307,
+              1.5
+            ],
+            "width": 1.2,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              1.5,
+              -0.5723192065257048,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              2.0,
+              0.6276807934742954,
+              2.1
+            ],
+            "wall_start": [
+              2.0,
+              -1.75
+            ],
+            "wall_end": [
+              2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1776807934742952
+          },
+          {
+            "opening_id": "window_3",
+            "opening_type": "window",
+            "wall_direction": "west",
+            "center_world": [
+              -2.0,
+              -0.028263105064171512,
+              1.5
+            ],
+            "width": 1.2,
+            "sill_height": 0.9,
+            "height": 1.2,
+            "clearance_bbox_min": [
+              -2.0,
+              -0.6282631050641716,
+              0.0
+            ],
+            "clearance_bbox_max": [
+              -1.5,
+              0.5717368949358286,
+              2.1
+            ],
+            "wall_start": [
+              -2.0,
+              -1.75
+            ],
+            "wall_end": [
+              -2.0,
+              1.75
+            ],
+            "position_along_wall": 1.1217368949358284
+          }
+        ],
+        "floor": {
+          "object_id": "floor_kitchen",
+          "object_type": "floor",
+          "name": "Floor",
+          "description": "Floor surface",
+          "transform": {
+            "translation": [
+              0.0,
+              0.0,
+              0.0
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": "/lustre/fs12/portfolios/nvr/projects/nvr_lpr_rvp/users/jtremblay/scenesmith/outputs/2026-07-24/14-20-00/scene_000/floor_plans/kitchen/floors/floor.gltf",
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -2.0,
+            -1.75,
+            -0.1
+          ],
+          "bbox_max": [
+            2.0,
+            1.75,
+            0.0
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "wall_normals": {
+          "north_wall": [
+            0.0,
+            -1.0
+          ],
+          "south_wall": [
+            0.0,
+            1.0
+          ],
+          "east_wall": [
+            -1.0,
+            0.0
+          ],
+          "west_wall": [
+            1.0,
+            0.0
+          ]
+        }
+      },
+      "objects": {
+        "north_wall": {
+          "object_id": "north_wall",
+          "object_type": "wall",
+          "name": "north_wall",
+          "description": "Room north_wall",
+          "transform": {
+            "translation": [
+              0.0,
+              1.725,
+              1.35
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": null,
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -2.0,
+            -0.025,
+            -1.35
+          ],
+          "bbox_max": [
+            2.0,
+            0.025,
+            1.35
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "south_wall": {
+          "object_id": "south_wall",
+          "object_type": "wall",
+          "name": "south_wall",
+          "description": "Room south_wall",
+          "transform": {
+            "translation": [
+              0.0,
+              -1.725,
+              1.35
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": null,
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -2.0,
+            -0.025,
+            -1.35
+          ],
+          "bbox_max": [
+            2.0,
+            0.025,
+            1.35
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "east_wall": {
+          "object_id": "east_wall",
+          "object_type": "wall",
+          "name": "east_wall",
+          "description": "Room east_wall",
+          "transform": {
+            "translation": [
+              1.975,
+              0.0,
+              1.35
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": null,
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -0.025,
+            -1.75,
+            -1.35
+          ],
+          "bbox_max": [
+            0.025,
+            1.75,
+            1.35
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "west_wall": {
+          "object_id": "west_wall",
+          "object_type": "wall",
+          "name": "west_wall",
+          "description": "Room west_wall",
+          "transform": {
+            "translation": [
+              -1.975,
+              0.0,
+              1.35
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": null,
+          "sdf_path": null,
+          "image_path": null,
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {},
+          "bbox_min": [
+            -0.025,
+            -1.75,
+            -1.35
+          ],
+          "bbox_max": [
+            0.025,
+            1.75,
+            1.35
+          ],
+          "immutable": true,
+          "scale_factor": 1.0
+        },
+        "kitchen_base_cabinet_0": {
+          "object_id": "kitchen_base_cabinet_0",
+          "object_type": "furniture",
+          "name": "kitchen_base_cabinet",
+          "description": "Apartment-sized straight kitchen base cabinet with butcher-block countertop, flat-front white drawers (realistic proportions)",
+          "transform": {
+            "translation": [
+              -0.01827898374319453,
+              1.4389302069066523,
+              -0.000158349091380913
+            ],
+            "rotation_wxyz": [
+              8.624945401466055e-07,
+              7.753840223404131e-05,
+              -0.0003145827311022086,
+              0.9999999475123774
+            ]
+          },
+          "geometry_path": "generated_assets/furniture/geometry/kitchen_base_cabinet_1784929170/kitchen_base_cabinet_combined.gltf",
+          "sdf_path": "generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf",
+          "image_path": null,
+          "support_surfaces": [
+            {
+              "surface_id": "S_0",
+              "bounding_box_min": [
+                -0.24949954450130463,
+                -0.24899953603744507,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.24949954450130463,
+                0.24899953603744507,
+                0.5
+              ],
+              "transform": {
+                "translation": [
+                  -0.017268260958181906,
+                  1.4395283405921078,
+                  0.7725914662501377
+                ],
+                "rotation_wxyz": [
+                  8.624945401466055e-07,
+                  7.753840223404131e-05,
+                  -0.0003145827311022086,
+                  0.9999999475123774
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.24949947495756605,
+                    -0.24899954100947516,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949946503343126,
+                    0.24899953106541498,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949955444039842,
+                    -0.248999451602508,
+                    -0.010000000000000009
+                  ],
+                  [
+                    0.24949953456221083,
+                    0.2489994714607702,
+                    -0.010000000000000009
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            },
+            {
+              "surface_id": "S_1",
+              "bounding_box_min": [
+                -0.22949957847595215,
+                -0.2339995801448822,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.22949957847595215,
+                0.2339995801448822,
+                0.64000004529953
+              ],
+              "transform": {
+                "translation": [
+                  -0.017370607382875148,
+                  1.444943589094181,
+                  0.1125947244178124
+                ],
+                "rotation_wxyz": [
+                  8.624945401466055e-07,
+                  7.753840223404131e-05,
+                  -0.0003145827311022086,
+                  0.9999999475123774
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.22949948906898499,
+                    -0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949948906898499,
+                    0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949957847595215,
+                    -0.23399949073791504,
+                    -0.009999999999999995
+                  ],
+                  [
+                    0.22949957847595215,
+                    0.23399949073791504,
+                    -0.009999999999999995
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            }
+          ],
+          "placement_info": null,
+          "metadata": {
+            "asset_source": "articulated",
+            "articulated_source": "artvip",
+            "articulated_id": "small_furniture/model_chest_of_drawers_4",
+            "is_articulated": true,
+            "generation_timestamp": 1784929181.7314627
+          },
+          "bbox_min": [
+            -0.2513909339904785,
+            -0.25108426809310913,
+            0.0
+          ],
+          "bbox_max": [
+            0.2513909339904785,
+            0.25108426809310913,
+            0.762749433517456
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "kitchen_base_cabinet_1": {
+          "object_id": "kitchen_base_cabinet_1",
+          "object_type": "furniture",
+          "name": "kitchen_base_cabinet",
+          "description": "Apartment-sized straight kitchen base cabinet with butcher-block countertop, flat-front white drawers (realistic proportions)",
+          "transform": {
+            "translation": [
+              -0.5324349331493353,
+              1.4389194824174074,
+              -0.00015834909320368596
+            ],
+            "rotation_wxyz": [
+              1.2821103177342389e-06,
+              7.753826768041738e-05,
+              -0.0003145827545238939,
+              0.9999999475119304
+            ]
+          },
+          "geometry_path": "generated_assets/furniture/geometry/kitchen_base_cabinet_1784929170/kitchen_base_cabinet_combined.gltf",
+          "sdf_path": "generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf",
+          "image_path": null,
+          "support_surfaces": [
+            {
+              "surface_id": "S_2",
+              "bounding_box_min": [
+                -0.24949954450130463,
+                -0.24899953603744507,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.24949954450130463,
+                0.24899953603744507,
+                0.5
+              ],
+              "transform": {
+                "translation": [
+                  -0.531424209866291,
+                  1.4395176152687188,
+                  0.7725914662483092
+                ],
+                "rotation_wxyz": [
+                  1.2821103177342389e-06,
+                  7.753826768041738e-05,
+                  -0.0003145827545238939,
+                  0.9999999475119304
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.24949947495756605,
+                    -0.24899954100947516,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949946503343126,
+                    0.24899953106541498,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949955444039842,
+                    -0.248999451602508,
+                    -0.010000000000000009
+                  ],
+                  [
+                    0.24949953456221083,
+                    0.2489994714607702,
+                    -0.010000000000000009
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            },
+            {
+              "surface_id": "S_3",
+              "bounding_box_min": [
+                -0.22949957847595215,
+                -0.2339995801448822,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.22949957847595215,
+                0.2339995801448822,
+                0.64000004529953
+              ],
+              "transform": {
+                "translation": [
+                  -0.5315265517429709,
+                  1.4449328638446512,
+                  0.11259472441588464
+                ],
+                "rotation_wxyz": [
+                  1.2821103177342389e-06,
+                  7.753826768041738e-05,
+                  -0.0003145827545238939,
+                  0.9999999475119304
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.22949948906898499,
+                    -0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949948906898499,
+                    0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949957847595215,
+                    -0.23399949073791504,
+                    -0.009999999999999995
+                  ],
+                  [
+                    0.22949957847595215,
+                    0.23399949073791504,
+                    -0.009999999999999995
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            }
+          ],
+          "placement_info": null,
+          "metadata": {
+            "asset_source": "articulated",
+            "articulated_source": "artvip",
+            "articulated_id": "small_furniture/model_chest_of_drawers_4",
+            "is_articulated": true,
+            "generation_timestamp": 1784929181.7314627
+          },
+          "bbox_min": [
+            -0.2513909339904785,
+            -0.25108426809310913,
+            0.0
+          ],
+          "bbox_max": [
+            0.2513909339904785,
+            0.25108426809310913,
+            0.762749433517456
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "kitchen_base_cabinet_2": {
+          "object_id": "kitchen_base_cabinet_2",
+          "object_type": "furniture",
+          "name": "kitchen_base_cabinet",
+          "description": "Apartment-sized straight kitchen base cabinet with butcher-block countertop, flat-front white drawers (realistic proportions)",
+          "transform": {
+            "translation": [
+              0.5079631483483151,
+              1.4389194824174134,
+              -0.0001583490932036863
+            ],
+            "rotation_wxyz": [
+              1.2821103177855881e-06,
+              7.753826768041362e-05,
+              -0.00031458275452389436,
+              0.9999999475119304
+            ]
+          },
+          "geometry_path": "generated_assets/furniture/geometry/kitchen_base_cabinet_1784929170/kitchen_base_cabinet_combined.gltf",
+          "sdf_path": "generated_assets/furniture/sdf/kitchen_base_cabinet_1784929170/model_chest_of_drawers_4.sdf",
+          "image_path": null,
+          "support_surfaces": [
+            {
+              "surface_id": "S_4",
+              "bounding_box_min": [
+                -0.24949954450130463,
+                -0.24899953603744507,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.24949954450130463,
+                0.24899953603744507,
+                0.5
+              ],
+              "transform": {
+                "translation": [
+                  0.5089738716313594,
+                  1.4395176152687248,
+                  0.7725914662483092
+                ],
+                "rotation_wxyz": [
+                  1.2821103177855881e-06,
+                  7.753826768041362e-05,
+                  -0.00031458275452389436,
+                  0.9999999475119304
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.24949947495756605,
+                    -0.24899954100947516,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949946503343126,
+                    0.24899953106541498,
+                    -0.010000000000000009
+                  ],
+                  [
+                    -0.24949955444039842,
+                    -0.248999451602508,
+                    -0.010000000000000009
+                  ],
+                  [
+                    0.24949953456221083,
+                    0.2489994714607702,
+                    -0.010000000000000009
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            },
+            {
+              "surface_id": "S_5",
+              "bounding_box_min": [
+                -0.22949957847595215,
+                -0.2339995801448822,
+                0.01
+              ],
+              "bounding_box_max": [
+                0.22949957847595215,
+                0.2339995801448822,
+                0.64000004529953
+              ],
+              "transform": {
+                "translation": [
+                  0.5088715297546795,
+                  1.4449328638446572,
+                  0.11259472441588463
+                ],
+                "rotation_wxyz": [
+                  1.2821103177855881e-06,
+                  7.753826768041362e-05,
+                  -0.00031458275452389436,
+                  0.9999999475119304
+                ]
+              },
+              "link_name": "E_body_1",
+              "mesh": {
+                "vertices": [
+                  [
+                    0.22949948906898499,
+                    -0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949948906898499,
+                    0.2339995801448822,
+                    -0.009999999999999995
+                  ],
+                  [
+                    -0.22949957847595215,
+                    -0.23399949073791504,
+                    -0.009999999999999995
+                  ],
+                  [
+                    0.22949957847595215,
+                    0.23399949073791504,
+                    -0.009999999999999995
+                  ]
+                ],
+                "faces": [
+                  [
+                    0,
+                    1,
+                    2
+                  ],
+                  [
+                    0,
+                    3,
+                    1
+                  ]
+                ]
+              }
+            }
+          ],
+          "placement_info": null,
+          "metadata": {
+            "asset_source": "articulated",
+            "articulated_source": "artvip",
+            "articulated_id": "small_furniture/model_chest_of_drawers_4",
+            "is_articulated": true,
+            "generation_timestamp": 1784929181.7314627
+          },
+          "bbox_min": [
+            -0.2513909339904785,
+            -0.25108426809310913,
+            0.0
+          ],
+          "bbox_max": [
+            0.2513909339904785,
+            0.25108426809310913,
+            0.762749433517456
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "clock_0": {
+          "object_id": "clock_0",
+          "object_type": "wall_mounted",
+          "name": "clock",
+          "description": "minimalist round wall clock matte black frame white face about 35cm diameter",
+          "transform": {
+            "translation": [
+              1.3814326263269803,
+              -1.7,
+              1.6520524949266702
+            ],
+            "rotation_wxyz": [
+              0.999972477143535,
+              4.542967377750189e-19,
+              -0.007419228761979666,
+              -6.1230654668464e-17
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/clock_1784930236/clock.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/clock_1784930236/clock.sdf",
+          "image_path": "generated_assets/wall_mounted/images/clock_1784930236.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_south",
+            "position_2d": [
+              0.6185673736730197,
+              1.6520524949266702
+            ],
+            "rotation_2d": -0.01483859365770358,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930441.9423463,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.1753961145877838,
+            -9.931997319593606e-18,
+            -0.17499999701976776
+          ],
+          "bbox_max": [
+            0.1753961145877838,
+            0.030495256185531616,
+            0.17499999701976776
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "wall_rail_0": {
+          "object_id": "wall_rail_0",
+          "object_type": "wall_mounted",
+          "name": "wall_rail",
+          "description": "brushed stainless wall rail with 4 hooks about 70cm wide (for towels/utensils)",
+          "transform": {
+            "translation": [
+              -0.7999999999999998,
+              -1.7,
+              1.22
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              -6.123233995736766e-17
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.sdf",
+          "image_path": "generated_assets/wall_mounted/images/wall_rail_1784930236.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_south",
+            "position_2d": [
+              2.8,
+              1.22
+            ],
+            "rotation_2d": 0.0,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930415.9805913,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.3532358705997467,
+            -1.997283175546449e-17,
+            -0.03999999910593033
+          ],
+          "bbox_max": [
+            0.3532358705997467,
+            0.07697057723999023,
+            0.03999999910593033
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "botanical_print_0": {
+          "object_id": "botanical_print_0",
+          "object_type": "wall_mounted",
+          "name": "botanical_print",
+          "description": "framed botanical print of rosemary in black thin frame about 45cm wide",
+          "transform": {
+            "translation": [
+              -1.95,
+              -1.2238080610494229,
+              1.5449543695910457
+            ],
+            "rotation_wxyz": [
+              0.7071006091765033,
+              -0.0029544038684501945,
+              -0.0029544038684501954,
+              -0.7071006091765034
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.sdf",
+          "image_path": "generated_assets/wall_mounted/images/botanical_print_1784930513.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_west",
+            "position_2d": [
+              0.5261919389505773,
+              1.5449543695910457
+            ],
+            "rotation_2d": -0.008356340351878294,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930656.633871,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.22499999403953552,
+            -2.4152949276331812e-17,
+            -0.2839013338088989
+          ],
+          "bbox_max": [
+            0.22499999403953552,
+            0.06282757222652435,
+            0.2839013338088989
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "botanical_print_1": {
+          "object_id": "botanical_print_1",
+          "object_type": "wall_mounted",
+          "name": "botanical_print",
+          "description": "framed botanical print of basil in black thin frame about 45cm wide",
+          "transform": {
+            "translation": [
+              -1.95,
+              1.2007123645449336,
+              1.5611175703519948
+            ],
+            "rotation_wxyz": [
+              0.7070993658359713,
+              -0.0032383382107171884,
+              -0.0032383382107171884,
+              -0.7070993658359715
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/botanical_print_1784930513/botanical_print.sdf",
+          "image_path": "generated_assets/wall_mounted/images/botanical_print_1784930513.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_west",
+            "position_2d": [
+              2.9507123645449336,
+              1.5611175703519948
+            ],
+            "rotation_2d": -0.009159435652313003,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930681.0463848,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.22499999403953552,
+            -3.619305609168621e-18,
+            -0.25529372692108154
+          ],
+          "bbox_max": [
+            0.22499999403953552,
+            0.009739046916365623,
+            0.25529372692108154
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "picture_ledge_shelf_0": {
+          "object_id": "picture_ledge_shelf_0",
+          "object_type": "wall_mounted",
+          "name": "picture_ledge_shelf",
+          "description": "narrow floating oak picture ledge shelf about 90cm wide for small frames",
+          "transform": {
+            "translation": [
+              -1.4,
+              1.7,
+              1.18
+            ],
+            "rotation_wxyz": [
+              6.123233995736766e-17,
+              0.0,
+              0.0,
+              1.0
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.sdf",
+          "image_path": "generated_assets/wall_mounted/images/picture_ledge_shelf_1784930236.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_north",
+            "position_2d": [
+              0.6,
+              1.18
+            ],
+            "rotation_2d": 0.0,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930302.7961953,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.44999998807907104,
+            -2.5407047729190808e-17,
+            -0.046384308487176895
+          ],
+          "bbox_max": [
+            0.44999998807907104,
+            0.10292024910449982,
+            0.046384308487176895
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "picture_ledge_shelf_1": {
+          "object_id": "picture_ledge_shelf_1",
+          "object_type": "wall_mounted",
+          "name": "picture_ledge_shelf",
+          "description": "narrow floating oak picture ledge shelf about 90cm wide for small frames",
+          "transform": {
+            "translation": [
+              1.4,
+              1.7,
+              1.18
+            ],
+            "rotation_wxyz": [
+              6.123233995736766e-17,
+              0.0,
+              0.0,
+              1.0
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/picture_ledge_shelf_1784930236/picture_ledge_shelf.sdf",
+          "image_path": "generated_assets/wall_mounted/images/picture_ledge_shelf_1784930236.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_north",
+            "position_2d": [
+              3.4,
+              1.18
+            ],
+            "rotation_2d": 0.0,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930302.7961953,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.44999998807907104,
+            -2.5407047729190808e-17,
+            -0.046384308487176895
+          ],
+          "bbox_max": [
+            0.44999998807907104,
+            0.10292024910449982,
+            0.046384308487176895
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "wall_rail_1": {
+          "object_id": "wall_rail_1",
+          "object_type": "wall_mounted",
+          "name": "wall_rail",
+          "description": "brushed stainless wall rail with 4 hooks about 70cm wide (for towels/utensils)",
+          "transform": {
+            "translation": [
+              1.95,
+              1.2827479838502627,
+              1.1078260374913464
+            ],
+            "rotation_wxyz": [
+              0.7071064037825668,
+              -0.0007305680567293185,
+              0.0007305680567293182,
+              0.7071064037825668
+            ]
+          },
+          "geometry_path": "generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.gltf",
+          "sdf_path": "generated_assets/wall_mounted/sdf/wall_rail_1784930236/wall_rail.sdf",
+          "image_path": "generated_assets/wall_mounted/images/wall_rail_1784930236.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "kitchen_east",
+            "position_2d": [
+              0.4672520161497374,
+              1.1078260374913464
+            ],
+            "rotation_2d": 0.002066358875752119,
+            "placement_method": "wall_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784930415.9805913,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.3532358705997467,
+            -1.997283175546449e-17,
+            -0.03999999910593033
+          ],
+          "bbox_max": [
+            0.3532358705997467,
+            0.07697057723999023,
+            0.03999999910593033
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "ceiling_panel_light_0": {
+          "object_id": "ceiling_panel_light_0",
+          "object_type": "ceiling_mounted",
+          "name": "ceiling_panel_light",
+          "description": "Modern low-profile square LED ceiling panel light, matte white frame, diffused lens",
+          "transform": {
+            "translation": [
+              0.05997304255378202,
+              0.004233296705468596,
+              2.7
+            ],
+            "rotation_wxyz": [
+              0.999994900378006,
+              0.0,
+              0.0,
+              -0.0031936214525153804
+            ]
+          },
+          "geometry_path": "generated_assets/ceiling_mounted/sdf/ceiling_panel_light_1784931454/ceiling_panel_light.gltf",
+          "sdf_path": "generated_assets/ceiling_mounted/sdf/ceiling_panel_light_1784931454/ceiling_panel_light.sdf",
+          "image_path": "generated_assets/ceiling_mounted/images/ceiling_panel_light_1784931454.png",
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {
+            "generation_timestamp": 1784931533.0283961,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.25,
+            -0.24916085600852966,
+            -0.051221903413534164
+          ],
+          "bbox_max": [
+            0.25,
+            0.24916085600852966,
+            1.413446195188966e-17
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "pendant_light_0": {
+          "object_id": "pendant_light_0",
+          "object_type": "ceiling_mounted",
+          "name": "pendant_light",
+          "description": "Modern small kitchen pendant light, matte black metal with opal glass globe shade, single downlight",
+          "transform": {
+            "translation": [
+              -0.6255178815291433,
+              1.0726169122762486,
+              2.7
+            ],
+            "rotation_wxyz": [
+              0.9999902747990292,
+              0.0,
+              0.0,
+              0.004410250260680402
+            ]
+          },
+          "geometry_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.gltf",
+          "sdf_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.sdf",
+          "image_path": "generated_assets/ceiling_mounted/images/pendant_light_1784931366.png",
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {
+            "generation_timestamp": 1784931447.9150565,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.10999999940395355,
+            -0.11278453469276428,
+            -0.6618559956550598
+          ],
+          "bbox_max": [
+            0.10999999940395355,
+            0.11278453469276428,
+            0.0
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "pendant_light_1": {
+          "object_id": "pendant_light_1",
+          "object_type": "ceiling_mounted",
+          "name": "pendant_light",
+          "description": "Modern small kitchen pendant light, matte black metal with opal glass globe shade, single downlight",
+          "transform": {
+            "translation": [
+              0.5943518757180484,
+              1.0664621083163641,
+              2.7
+            ],
+            "rotation_wxyz": [
+              0.9999994670921264,
+              0.0,
+              0.0,
+              0.0010323833895111872
+            ]
+          },
+          "geometry_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.gltf",
+          "sdf_path": "generated_assets/ceiling_mounted/sdf/pendant_light_1784931366/pendant_light.sdf",
+          "image_path": "generated_assets/ceiling_mounted/images/pendant_light_1784931366.png",
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {
+            "generation_timestamp": 1784931447.9150565,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.10999999940395355,
+            -0.11278453469276428,
+            -0.6618559956550598
+          ],
+          "bbox_max": [
+            0.10999999940395355,
+            0.11278453469276428,
+            0.0
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "track_lighting_0": {
+          "object_id": "track_lighting_0",
+          "object_type": "ceiling_mounted",
+          "name": "track_lighting",
+          "description": "Slim 3-light ceiling track (straight bar) in matte black with three adjustable spot heads",
+          "transform": {
+            "translation": [
+              0.0,
+              0.55,
+              2.7
+            ],
+            "rotation_wxyz": [
+              1.0,
+              0.0,
+              0.0,
+              0.0
+            ]
+          },
+          "geometry_path": "generated_assets/ceiling_mounted/sdf/track_lighting_1784931168/track_lighting.gltf",
+          "sdf_path": "generated_assets/ceiling_mounted/sdf/track_lighting_1784931168/track_lighting.sdf",
+          "image_path": "generated_assets/ceiling_mounted/images/track_lighting_1784931168.png",
+          "support_surfaces": [],
+          "placement_info": null,
+          "metadata": {
+            "generation_timestamp": 1784931339.1289968,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.598848283290863,
+            -0.09000000357627869,
+            -0.34101903438568115
+          ],
+          "bbox_max": [
+            0.598848283290863,
+            0.09000000357627869,
+            0.0
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "fruit_bowl_0": {
+          "object_id": "fruit_bowl_0",
+          "object_type": "manipuland",
+          "name": "fruit_bowl",
+          "description": "white glazed ceramic fruit bowl",
+          "transform": {
+            "translation": [
+              -0.02466380916131876,
+              1.401381727839023,
+              0.7624714142718474
+            ],
+            "rotation_wxyz": [
+              0.11758311896123397,
+              -0.0004779704591686402,
+              0.00016565503782512952,
+              -0.9930629155486558
+            ]
+          },
+          "geometry_path": "generated_assets/manipuland/sdf/fruit_bowl_1784935318/fruit_bowl.gltf",
+          "sdf_path": "generated_assets/manipuland/sdf/fruit_bowl_1784935318/fruit_bowl.sdf",
+          "image_path": "generated_assets/manipuland/images/fruit_bowl_1784935318.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "S_0",
+            "position_2d": [
+              0.02,
+              0.06
+            ],
+            "rotation_2d": 0.20943951023931956,
+            "placement_method": "surface_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784935399.6541438,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.14000000059604645,
+            -0.1390029639005661,
+            0.0
+          ],
+          "bbox_max": [
+            0.14000000059604645,
+            0.1390029489994049,
+            0.09663530439138412
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "cutting_board_0": {
+          "object_id": "cutting_board_0",
+          "object_type": "manipuland",
+          "name": "cutting_board",
+          "description": "wooden cutting board",
+          "transform": {
+            "translation": [
+              -0.46348070676535497,
+              1.4152133825600877,
+              0.7619993420744462
+            ],
+            "rotation_wxyz": [
+              0.6832925191744024,
+              0.008817698838341086,
+              0.005461103491998873,
+              -0.7300710635110426
+            ]
+          },
+          "geometry_path": "generated_assets/manipuland/sdf/cutting_board_1784938618/cutting_board.gltf",
+          "sdf_path": "generated_assets/manipuland/sdf/cutting_board_1784938618/cutting_board.sdf",
+          "image_path": "generated_assets/manipuland/images/cutting_board_1784938618.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "S_2",
+            "position_2d": [
+              -0.04,
+              0.02
+            ],
+            "rotation_2d": 1.5707963267948966,
+            "placement_method": "surface_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784938786.550774,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.005172131538391114,
+            -0.05291629314422607,
+            0.0
+          ],
+          "bbox_max": [
+            0.005172131538391114,
+            0.05291629314422607,
+            0.05760000085830689
+          ],
+          "immutable": false,
+          "scale_factor": 0.28800000000000003
+        },
+        "butter_knife_0": {
+          "object_id": "butter_knife_0",
+          "object_type": "manipuland",
+          "name": "butter_knife",
+          "description": "butter knife",
+          "transform": {
+            "translation": [
+              -0.5575516892829723,
+              1.3862891383552918,
+              0.7663754834831555
+            ],
+            "rotation_wxyz": [
+              0.527441453557503,
+              -0.49661573046477014,
+              0.4779140571195741,
+              -0.49676602473558873
+            ]
+          },
+          "geometry_path": "generated_assets/manipuland/sdf/butter_knife_1784938618/butter_knife.gltf",
+          "sdf_path": "generated_assets/manipuland/sdf/butter_knife_1784938618/butter_knife.sdf",
+          "image_path": "generated_assets/manipuland/images/butter_knife_1784938618.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "S_2",
+            "position_2d": [
+              0.02,
+              0.06
+            ],
+            "rotation_2d": 1.5707963267948966,
+            "placement_method": "surface_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784938719.5263362,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.0882980227470398,
+            -0.004999998956918716,
+            8.07063571528488e-09
+          ],
+          "bbox_max": [
+            0.0882980227470398,
+            0.005000000819563866,
+            0.02091720700263977
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "herb_planter_pot_0": {
+          "object_id": "herb_planter_pot_0",
+          "object_type": "manipuland",
+          "name": "herb_planter_pot",
+          "description": "low-profile small herb planter pot (basil), compact and short",
+          "transform": {
+            "translation": [
+              0.6701141047349091,
+              1.6278306271372436,
+              0.7624311889203367
+            ],
+            "rotation_wxyz": [
+              0.0760061637543413,
+              0.0002373388547585676,
+              0.0001187676078876573,
+              0.997107312497442
+            ]
+          },
+          "geometry_path": "generated_assets/manipuland/sdf/herb_planter_pot_1784940348/herb_planter_pot.gltf",
+          "sdf_path": "generated_assets/manipuland/sdf/herb_planter_pot_1784940348/herb_planter_pot.sdf",
+          "image_path": "generated_assets/manipuland/images/herb_planter_pot_1784940348.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "S_4",
+            "position_2d": [
+              -0.16,
+              -0.19
+            ],
+            "rotation_2d": -0.17453292519943295,
+            "placement_method": "surface_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784940486.162303,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.06000000238418579,
+            -0.0603865385055542,
+            0.0
+          ],
+          "bbox_max": [
+            0.05999999865889549,
+            0.0603865385055542,
+            0.1149090975522995
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        },
+        "glass_tumbler_1": {
+          "object_id": "glass_tumbler_1",
+          "object_type": "manipuland",
+          "name": "glass_tumbler",
+          "description": "clear glass tumbler",
+          "transform": {
+            "translation": [
+              0.4120348232600179,
+              1.2758325423775079,
+              0.7624591336744577
+            ],
+            "rotation_wxyz": [
+              0.02368554493827618,
+              6.463604033838924e-05,
+              4.538848386625896e-05,
+              -0.9997194550087762
+            ]
+          },
+          "geometry_path": "generated_assets/manipuland/sdf/glass_tumbler_1784940956/glass_tumbler.gltf",
+          "sdf_path": "generated_assets/manipuland/sdf/glass_tumbler_1784940956/glass_tumbler.sdf",
+          "image_path": "generated_assets/manipuland/images/glass_tumbler_1784940956.png",
+          "support_surfaces": [],
+          "placement_info": {
+            "parent_surface_id": "S_4",
+            "position_2d": [
+              0.1,
+              0.16
+            ],
+            "rotation_2d": 0.10471975511965978,
+            "placement_method": "surface_placement"
+          },
+          "metadata": {
+            "generation_timestamp": 1784941152.3812537,
+            "asset_source": "generated"
+          },
+          "bbox_min": [
+            -0.03750000149011612,
+            -0.037596445530653,
+            0.0
+          ],
+          "bbox_max": [
+            0.03750000149011612,
+            0.037596445530653,
+            0.07528351247310638
+          ],
+          "immutable": false,
+          "scale_factor": 1.0
+        }
+      },
+      "text_description": "A kitchen countertop workspace with a wooden cutting board a ceramic bowl with apples and oranges a glass of water a butter knife and a small herb plant pot on the counter"
+    }
+  },
+  "timestamp": 1784941593.7921236
+}