{
  "schema_version": "robobuddy.lab.scene.v2",
  "id": "unseen_adapter_transfer",
  "objects": [
    {
      "id": "bench",
      "role": "bench",
      "motion": "fixed",
      "fixed_reason": "Declared installed work surface, not an inferred attachment",
      "mass_kg": 15,
      "position_m": [
        0.41,
        0,
        0.98
      ],
      "parts": [
        {
          "id": "top",
          "shape": "box",
          "dimensions_m": [
            0.82,
            1.1,
            0.05
          ]
        }
      ],
      "ports": [
        {
          "id": "surface",
          "type": "support",
          "part_id": "top"
        }
      ]
    },
    {
      "id": "novel_adapter",
      "label": "Previously undefined sample adapter",
      "position_m": [
        0.554,
        0.1535,
        1.005
      ],
      "mass_kg": 0.025,
      "parts": [
        {
          "id": "body",
          "shape": "box",
          "position_m": [
            0,
            0,
            0.0425
          ],
          "dimensions_m": [
            0.04,
            0.04,
            0.085
          ]
        },
        {
          "id": "tab",
          "shape": "box",
          "position_m": [
            0.024,
            0,
            0.024
          ],
          "dimensions_m": [
            0.012,
            0.012,
            0.006
          ]
        }
      ],
      "ports": [
        {
          "id": "grip",
          "type": "grasp",
          "position_m": [
            0,
            0,
            0.065
          ]
        }
      ]
    },
    {
      "id": "receiver",
      "role": "fixture",
      "position_m": [
        0.67,
        0.1535,
        1.005
      ],
      "motion": "fixed",
      "fixed_reason": "Explicit fixture assumption",
      "parts": [
        {
          "id": "top",
          "shape": "box",
          "position_m": [
            0,
            0,
            0.0125
          ],
          "dimensions_m": [
            0.12,
            0.12,
            0.025
          ]
        }
      ],
      "ports": [
        {
          "id": "receiving_top",
          "type": "support",
          "part_id": "top"
        }
      ]
    }
  ]
}