{
  "schema_version": 1,
  "name": "Hall, L-shaped, 8 x 6 m bounding box",
  "description": "An L-shaped common room: a 8.0 x 2.5 m bottom arm with a dining table, and a 4.5 x 3.5 m sitting area above it. The floor is the polygon; width_m and depth_m stay the bounding box so a reader that ignores polygon_m still gets the right extent, and the floor area is 35.75 m2 rather than the 48 m2 the box would suggest. SCENE data, typed in, not sensed. The L is the point of this example: the inner corner at (4.5, 2.5) is exactly the geometry where a link between the two arms passes through a wall, and where a localizer that assumes a convex room goes wrong.",
  "room": {
    "width_m": 8.0,
    "depth_m": 6.0,
    "height_m": 3.0,
    "polygon_m": [
      [0.0, 0.0],
      [8.0, 0.0],
      [8.0, 2.5],
      [4.5, 2.5],
      [4.5, 6.0],
      [0.0, 6.0]
    ]
  },
  "walls": [
    { "id": "south", "from_m": [0.0, 0.0], "to_m": [8.0, 0.0], "material": "concrete", "thickness_m": 0.2 },
    { "id": "east", "from_m": [8.0, 0.0], "to_m": [8.0, 2.5], "material": "concrete", "thickness_m": 0.2 },
    { "id": "inner-south", "from_m": [8.0, 2.5], "to_m": [4.5, 2.5], "material": "brick", "thickness_m": 0.115 },
    { "id": "inner-east", "from_m": [4.5, 2.5], "to_m": [4.5, 6.0], "material": "brick", "thickness_m": 0.115 },
    { "id": "north", "from_m": [4.5, 6.0], "to_m": [0.0, 6.0], "material": "concrete", "thickness_m": 0.2 },
    { "id": "west", "from_m": [0.0, 6.0], "to_m": [0.0, 0.0], "material": "concrete", "thickness_m": 0.2 }
  ],
  "objects": [
    {
      "id": "door",
      "type": "door",
      "centre_m": [0.9, 0.03, 1.025],
      "size_m": [0.8, 0.06, 2.05],
      "rotation_deg": 0.0,
      "material": "wood"
    },
    {
      "id": "window-south",
      "type": "window",
      "centre_m": [6.0, 0.03, 1.6],
      "size_m": [1.5, 0.06, 1.3],
      "rotation_deg": 0.0,
      "material": "glass"
    },
    {
      "id": "window-west",
      "type": "window",
      "centre_m": [0.03, 2.0, 1.6],
      "size_m": [1.5, 0.06, 1.3],
      "rotation_deg": 90.0,
      "material": "glass"
    },
    {
      "id": "dining-table",
      "type": "table",
      "centre_m": [5.5, 1.5, 0.375],
      "size_m": [1.8, 0.9, 0.75],
      "rotation_deg": 0.0,
      "material": "wood"
    },
    {
      "id": "dining-chair-1",
      "type": "chair",
      "centre_m": [5.0, 2.2, 0.45],
      "size_m": [0.45, 0.45, 0.9],
      "rotation_deg": 180.0,
      "material": "wood"
    },
    {
      "id": "dining-chair-2",
      "type": "chair",
      "centre_m": [6.0, 2.2, 0.45],
      "size_m": [0.45, 0.45, 0.9],
      "rotation_deg": 180.0,
      "material": "wood"
    },
    {
      "id": "almirah",
      "type": "almirah",
      "centre_m": [7.6, 1.8, 1.0],
      "size_m": [1.2, 0.6, 2.0],
      "rotation_deg": 90.0,
      "material": "metal"
    },
    {
      "id": "sofa",
      "type": "sofa",
      "centre_m": [2.5, 5.45, 0.4],
      "size_m": [2.0, 0.9, 0.8],
      "rotation_deg": 0.0,
      "material": "fabric"
    },
    {
      "id": "coffee-table",
      "type": "table",
      "centre_m": [2.5, 4.3, 0.225],
      "size_m": [1.2, 0.6, 0.45],
      "rotation_deg": 0.0,
      "material": "wood"
    },
    {
      "id": "armchair-1",
      "type": "chair",
      "centre_m": [1.4, 4.3, 0.45],
      "size_m": [0.45, 0.45, 0.9],
      "rotation_deg": 90.0,
      "material": "fabric"
    },
    {
      "id": "armchair-2",
      "type": "chair",
      "centre_m": [3.6, 4.3, 0.45],
      "size_m": [0.45, 0.45, 0.9],
      "rotation_deg": 270.0,
      "material": "fabric"
    }
  ],
  "nodes": [
    { "id": 0, "label": "west wall, bottom arm", "pos_m": [0.12, 1.2, 1.2] },
    { "id": 1, "label": "west wall, sitting area", "pos_m": [0.12, 4.5, 1.2] },
    { "id": 2, "label": "north wall, east end", "pos_m": [3.9, 5.88, 1.2] },
    { "id": 3, "label": "inner corner wall, facing the sitting area", "pos_m": [4.38, 4.0, 1.2] },
    { "id": 4, "label": "south wall, mid room", "pos_m": [4.0, 0.12, 1.2] },
    { "id": 5, "label": "east wall, clear of the almirah", "pos_m": [7.88, 0.6, 1.2] },
    { "id": 6, "label": "inner wall of the bottom arm", "pos_m": [6.0, 2.38, 1.2] }
  ],
  "people": [
    { "id": "p1", "pos_m": [2.5, 3.0], "height_m": 1.7 },
    { "id": "p2", "pos_m": [6.2, 1.0], "height_m": 1.75 }
  ],
  "phone": {
    "id": "phone",
    "pos_m": [5.5, 1.5, 0.78]
  }
}