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+## connectivity
+Connectivity graphs indicating the navigable paths between viewpoints in each scan.
+
+Each json file contains an array of annotations, one for each viewpoint in the scan. All annotations share the same basic structure as follows:
+
+```
+{
+  "image_id": str,
+  "pose": [float x 16],
+  "included": boolean,
+  "visible": [boolean x num_viewpoints],
+  "unobstructed": [boolean x num_viewpoints],
+  "height": float
+}
+```
+- `image_id`: matterport skybox prefix
+- `pose`: 4x4 matrix in row major order that transforms matterport skyboxes to global coordinates (z-up). Pose matrices are based on the assumption that the camera is facing skybox image 3.
+- `included`: whether viewpoint is included in the simulator. Some overlapping viewpoints are excluded.
+- `visible`: indicates other viewpoints that can be seen from this viewpoint.
+- `unobstructed`: indicates transitions to other viewpoints that are considered navigable for an agent.
+- `height`: estimated height of the viewpoint above the floor. Not required for the simulator.
+
+Units are in metres.
+
+`scans.txt` contains a list of all the scan ids in the dataset.
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