Upload ground_truth/graphs

ground_truth/graphs/HM3D00000-graph.json

@@ -0,0 +1,171 @@
+{
+  "nodes": [
+    {
+      "id": "node_4",
+      "name": "Master bedroom",
+      "description": "With brown carpet and brown night stands",
+      "position": {
+        "x": -2.460773837896031,
+        "y": 0.31514917285477323,
+        "z": -2.526385871189146
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Master Bedroom Bathroom",
+      "description": "",
+      "position": {
+        "x": -0.8454362127230981,
+        "y": 0.3102310500674534,
+        "z": -0.38619756231093083
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Guest Bedroom 1",
+      "description": "With white sheets and gray rug",
+      "position": {
+        "x": -6.147596275755243,
+        "y": 0.33720201262493815,
+        "z": -2.053510141818547
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Guest Bedroom 2",
+      "description": "With cyan sheets and rug",
+      "position": {
+        "x": -2.757315703976402,
+        "y": 0.3299357682006853,
+        "z": 1.7901802942007765
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Crib room",
+      "description": "",
+      "position": {
+        "x": -5.796653713690998,
+        "y": 0.3525351308213455,
+        "z": 2.411972876783482
+      }
+    },
+    {
+      "id": "node_9",
+      "name": "Second floor shared bathroom",
+      "description": "",
+      "position": {
+        "x": -6.441438670093388,
+        "y": 0.2985954957723617,
+        "z": 0.3063795880397546
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Second floor hallway",
+      "description": "",
+      "position": {
+        "x": -5.030158654732304,
+        "y": 0.3005578295841211,
+        "z": 0.20696911907756946
+      }
+    },
+    {
+      "id": "node_12",
+      "name": "Lobby",
+      "description": "",
+      "position": {
+        "x": -1.2124439248912928,
+        "y": -2.3205543262520534,
+        "z": -0.1881248715964162
+      }
+    },
+    {
+      "id": "node_13",
+      "name": "Dining room",
+      "description": "",
+      "position": {
+        "x": -5.179716640749111,
+        "y": -2.31859175143464,
+        "z": -2.7122993255401324
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Living room",
+      "description": "",
+      "position": {
+        "x": -1.9597123328409851,
+        "y": -2.290285197564757,
+        "z": -3.008046549916683
+      }
+    },
+    {
+      "id": "node_15",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": -6.210781424520287,
+        "y": -2.317028250459237,
+        "z": 0.27830243105409136
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_1",
+      "from": "node_10",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_10",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_10",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_10",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_10",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_4",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_15",
+      "to": "node_12"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_15",
+      "to": "node_13"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_14",
+      "to": "node_13"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_14",
+      "to": "node_12"
+    },
+    {
+      "id": "edge_11",
+      "from": "node_12",
+      "to": "node_10"
+    }
+  ]
+}

ground_truth/graphs/HM3D00002-graph.json

@@ -0,0 +1,166 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Porch",
+      "description": "",
+      "position": {
+        "x": -6.871059301176581,
+        "y": 0.2336659552976414,
+        "z": 5.999062377687219
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Yard",
+      "description": "",
+      "position": {
+        "x": -6.98989464065397,
+        "y": 0.20803158019167894,
+        "z": 8.429650599882558
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": -6.008800638742956,
+        "y": 0.30617948808429957,
+        "z": 3.446894508603113
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Living Room",
+      "description": "",
+      "position": {
+        "x": -10.83409592587898,
+        "y": 0.3035206934686158,
+        "z": 1.8880671994911218
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Guest Bathroom",
+      "description": "",
+      "position": {
+        "x": -5.699436796506102,
+        "y": 0.3079823457040806,
+        "z": -0.0673273840844435
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Master Bathroom",
+      "description": "with a tub",
+      "position": {
+        "x": -5.853741343165359,
+        "y": 3.4228233213907844,
+        "z": 0.012639398056827567
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Second floor hallway",
+      "description": "",
+      "position": {
+        "x": -8.632041179677422,
+        "y": 3.4314817414597156,
+        "z": 0.6990399550489901
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Study room",
+      "description": "",
+      "position": {
+        "x": -11.319617517435427,
+        "y": 3.4226995296490133,
+        "z": 5.040156037063769
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Master bedroom",
+      "description": "With a big bed and a crib",
+      "position": {
+        "x": -11.340632026630885,
+        "y": 3.4248156873107893,
+        "z": 1.3427872490689925
+      }
+    },
+    {
+      "id": "node_9",
+      "name": "Children Bedroom",
+      "description": "With a small bed",
+      "position": {
+        "x": -6.531685998040672,
+        "y": 3.431771019561702,
+        "z": 3.0440537645517174
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Balcony",
+      "description": "",
+      "position": {
+        "x": -5.581429834486578,
+        "y": 3.3558623855383347,
+        "z": 5.627524345401151
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_10",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_9",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_6",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_6",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_8",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_6",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_3",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_3",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_0",
+      "to": "node_1"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_3",
+      "to": "node_4"
+    }
+  ]
+}

ground_truth/graphs/HM3D00003-graph.json

@@ -0,0 +1,331 @@
+{
+  "nodes": [
+    {
+      "id": "node_13",
+      "name": "Yard",
+      "description": "",
+      "position": {
+        "x": 0.40461046740055373,
+        "y": -1.2610417604057786,
+        "z": 2.0442154260281207
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Long wooden porch",
+      "description": "L shaped",
+      "position": {
+        "x": 1.0080836982613697,
+        "y": 0.3005731335779231,
+        "z": -3.6522950064330226
+      }
+    },
+    {
+      "id": "node_15",
+      "name": "Smaller concrete porch",
+      "description": "Square shaped",
+      "position": {
+        "x": -15.483762788548121,
+        "y": 0.23111257879640518,
+        "z": -3.220528833175223
+      }
+    },
+    {
+      "id": "node_16",
+      "name": "Basement foyer",
+      "description": "",
+      "position": {
+        "x": -12.2642956424274,
+        "y": -2.151306506609572,
+        "z": 1.830153757057624
+      }
+    },
+    {
+      "id": "node_17",
+      "name": "Basement bathroom",
+      "description": "",
+      "position": {
+        "x": -10.561460056574775,
+        "y": -2.1546283298987907,
+        "z": 0.10292470655912767
+      }
+    },
+    {
+      "id": "node_18",
+      "name": "Basement empty room",
+      "description": "",
+      "position": {
+        "x": -12.969204905503142,
+        "y": -2.1607833690629477,
+        "z": -1.4296843472194114
+      }
+    },
+    {
+      "id": "node_19",
+      "name": "Basement bedroom empty",
+      "description": "",
+      "position": {
+        "x": -11.83787388463232,
+        "y": -2.16379458539933,
+        "z": -3.9461928385420992
+      }
+    },
+    {
+      "id": "node_20",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": -1.6562917738828844,
+        "y": 0.2850499689905092,
+        "z": -2.417550814039708
+      }
+    },
+    {
+      "id": "node_21",
+      "name": "Bedroom with bigger dark blue checkerboard pattern",
+      "description": "",
+      "position": {
+        "x": -2.7813086252315324,
+        "y": 0.2939757503853421,
+        "z": -5.739787463309776
+      }
+    },
+    {
+      "id": "node_22",
+      "name": "First floor living room empty",
+      "description": "",
+      "position": {
+        "x": -11.83931622331896,
+        "y": 0.06613738613541215,
+        "z": -1.752938861606673
+      }
+    },
+    {
+      "id": "node_23",
+      "name": "Kitchen with cyan floor",
+      "description": "",
+      "position": {
+        "x": -12.916993166970313,
+        "y": 0.3406088478735116,
+        "z": -5.31038872234362
+      }
+    },
+    {
+      "id": "node_24",
+      "name": "Bathroom with light blue floor",
+      "description": "",
+      "position": {
+        "x": -10.636756454780082,
+        "y": 0.34497545713819927,
+        "z": -6.155026734339456
+      }
+    },
+    {
+      "id": "node_25",
+      "name": "Bedroom with smaller checkboard sheet",
+      "description": "",
+      "position": {
+        "x": -7.8629587124546125,
+        "y": 0.3047302057260232,
+        "z": -5.050136415365873
+      }
+    },
+    {
+      "id": "node_26",
+      "name": "Bedroom with plant pattern sheets",
+      "description": "",
+      "position": {
+        "x": -8.696343221334438,
+        "y": 0.26464068664282897,
+        "z": -1.726982937869607
+      }
+    },
+    {
+      "id": "node_27",
+      "name": "Shared bathroom",
+      "description": "On the first floor with gray floor",
+      "position": {
+        "x": -6.001903959805378,
+        "y": 0.2718367806951704,
+        "z": -1.6263053580667148
+      }
+    },
+    {
+      "id": "node_28",
+      "name": "First floor foyer",
+      "description": "with golf stuff",
+      "position": {
+        "x": -3.355901860651979,
+        "y": 0.28829896592428844,
+        "z": -0.5492055496767363
+      }
+    },
+    {
+      "id": "node_29",
+      "name": "Second floor living room",
+      "description": "Including hallway and dining space",
+      "position": {
+        "x": -8.706646460240936,
+        "y": 3.008649122288591,
+        "z": -4.427761513253511
+      }
+    },
+    {
+      "id": "node_30",
+      "name": "Home office",
+      "description": "",
+      "position": {
+        "x": -1.3696311481542565,
+        "y": 3.024628691087684,
+        "z": -5.947224254312664
+      }
+    },
+    {
+      "id": "node_31",
+      "name": "Second floor bathroom",
+      "description": "",
+      "position": {
+        "x": -3.7981304267944043,
+        "y": 3.0180341888225497,
+        "z": -5.901972945659829
+      }
+    },
+    {
+      "id": "node_33",
+      "name": "Rooftop terrace",
+      "description": "",
+      "position": {
+        "x": -14.322434426337605,
+        "y": 3.0341928469495594,
+        "z": 0.9567071360981254
+      }
+    },
+    {
+      "id": "node_35",
+      "name": "Secondd floor bedroom",
+      "description": "",
+      "position": {
+        "x": -2.3582452296606986,
+        "y": 3.5998970011283946,
+        "z": -1.0296376958719975
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_11",
+      "from": "node_13",
+      "to": "node_16"
+    },
+    {
+      "id": "edge_12",
+      "from": "node_13",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_13",
+      "from": "node_13",
+      "to": "node_15"
+    },
+    {
+      "id": "edge_14",
+      "from": "node_16",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_15",
+      "from": "node_16",
+      "to": "node_18"
+    },
+    {
+      "id": "edge_16",
+      "from": "node_16",
+      "to": "node_19"
+    },
+    {
+      "id": "edge_17",
+      "from": "node_22",
+      "to": "node_16"
+    },
+    {
+      "id": "edge_18",
+      "from": "node_22",
+      "to": "node_15"
+    },
+    {
+      "id": "edge_19",
+      "from": "node_15",
+      "to": "node_23"
+    },
+    {
+      "id": "edge_20",
+      "from": "node_23",
+      "to": "node_22"
+    },
+    {
+      "id": "edge_21",
+      "from": "node_22",
+      "to": "node_24"
+    },
+    {
+      "id": "edge_22",
+      "from": "node_29",
+      "to": "node_33"
+    },
+    {
+      "id": "edge_23",
+      "from": "node_14",
+      "to": "node_33"
+    },
+    {
+      "id": "edge_24",
+      "from": "node_29",
+      "to": "node_35"
+    },
+    {
+      "id": "edge_25",
+      "from": "node_29",
+      "to": "node_30"
+    },
+    {
+      "id": "edge_26",
+      "from": "node_28",
+      "to": "node_29"
+    },
+    {
+      "id": "edge_27",
+      "from": "node_29",
+      "to": "node_31"
+    },
+    {
+      "id": "edge_28",
+      "from": "node_28",
+      "to": "node_20"
+    },
+    {
+      "id": "edge_29",
+      "from": "node_28",
+      "to": "node_21"
+    },
+    {
+      "id": "edge_30",
+      "from": "node_28",
+      "to": "node_25"
+    },
+    {
+      "id": "edge_31",
+      "from": "node_28",
+      "to": "node_27"
+    },
+    {
+      "id": "edge_32",
+      "from": "node_28",
+      "to": "node_26"
+    },
+    {
+      "id": "edge_33",
+      "from": "node_28",
+      "to": "node_14"
+    }
+  ]
+}

ground_truth/graphs/HM3D00004-graph.json

@@ -0,0 +1,216 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Porch",
+      "description": "",
+      "position": {
+        "x": -0.38388744070880443,
+        "y": 0.2757017467199356,
+        "z": 5.11719091107056
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Living room",
+      "description": "plus dining and kitchen",
+      "position": {
+        "x": -2.255738029309028,
+        "y": 0.29087385075012867,
+        "z": -3.4663967601685775
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Guest bathroom",
+      "description": "",
+      "position": {
+        "x": -6.72700738232575,
+        "y": 0.2902866321324346,
+        "z": -2.5237413645870594
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": -6.993887980276057,
+        "y": 0.28836580215135504,
+        "z": -5.083194811232158
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Garage",
+      "description": "",
+      "position": {
+        "x": -10.426832720185587,
+        "y": -0.04105438801041378,
+        "z": -2.6809614831586583
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Bedroom",
+      "description": "with white sheets and rug",
+      "position": {
+        "x": -3.0825306468887237,
+        "y": 0.31000474087196767,
+        "z": 0.35026080384500347
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Bathroom inside bedroom",
+      "description": "",
+      "position": {
+        "x": -6.145115571962432,
+        "y": 0.28871361360696673,
+        "z": 2.6629339997529
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Second floor bedroom",
+      "description": "",
+      "position": {
+        "x": -12.878146879519928,
+        "y": 3.0356312214437544,
+        "z": -1.72991574176265
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Closet of the second floor bedroom",
+      "description": "",
+      "position": {
+        "x": -13.80008463220888,
+        "y": 3.4110078018589656,
+        "z": 0.3061980425192763
+      }
+    },
+    {
+      "id": "node_9",
+      "name": "Home office",
+      "description": "",
+      "position": {
+        "x": -11.145753433158479,
+        "y": 3.4056544595642437,
+        "z": 0.8720912446309037
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Second floor bathroom",
+      "description": "",
+      "position": {
+        "x": -10.015028186723491,
+        "y": 3.4009999487117577,
+        "z": -2.9963081554551225
+      }
+    },
+    {
+      "id": "node_11",
+      "name": "Second floor hallway",
+      "description": "",
+      "position": {
+        "x": -9.060627168917001,
+        "y": 3.412001772491281,
+        "z": -1.6359210917662188
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Dressing room",
+      "description": "",
+      "position": {
+        "x": 2.233148280967793,
+        "y": 0.3046358260137751,
+        "z": 2.3906862107963507
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_11",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_11",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_7",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_11",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_11",
+      "to": "node_1"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_1",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_1",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_1",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_1",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_5",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_1",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_11",
+      "from": "node_1",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_12",
+      "from": "node_2",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_13",
+      "from": "node_3",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_14",
+      "from": "node_4",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_15",
+      "from": "node_11",
+      "to": "node_5"
+    }
+  ]
+}

ground_truth/graphs/HM3D00005-graph.json

@@ -0,0 +1,101 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Living room",
+      "description": "Including the sofa space, entrance space, dining space, as well as a home office space",
+      "position": {
+        "x": -2.064030434281219,
+        "y": 0.29548004857118143,
+        "z": -1.9643691281274895
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Balcony",
+      "description": "",
+      "position": {
+        "x": 1.704238565739007,
+        "y": 0.28979181934236314,
+        "z": -6.8047849193923025
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": -3.226756996783509,
+        "y": 0.3223932360979013,
+        "z": -7.873262861798537
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Media room",
+      "description": "",
+      "position": {
+        "x": -7.979979934592013,
+        "y": 0.3204143033755102,
+        "z": -7.661807087925503
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Bedroom",
+      "description": "",
+      "position": {
+        "x": -11.154490469937809,
+        "y": 0.3051089907410464,
+        "z": -3.3532582247365736
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Master Bathroom",
+      "description": "",
+      "position": {
+        "x": -11.464592881360932,
+        "y": 0.32336381804037123,
+        "z": -0.3692875289776989
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Guest bathroom",
+      "description": "",
+      "position": {
+        "x": -6.821147354334797,
+        "y": 0.2968731353703699,
+        "z": -3.7967779243588238
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_0",
+      "to": "node_1"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_0",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_0",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_0",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_4",
+      "to": "node_5"
+    }
+  ]
+}

ground_truth/graphs/HM3D00007-graph.json

@@ -0,0 +1,171 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Parking space",
+      "description": "",
+      "position": {
+        "x": 6.265853642800746,
+        "y": -1.214031514579516,
+        "z": 0.14151333189673077
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Porch",
+      "description": "",
+      "position": {
+        "x": 0.9105252542560489,
+        "y": -1.064782097347227,
+        "z": -1.0392691773403364
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Yard",
+      "description": "",
+      "position": {
+        "x": -1.350756013859498,
+        "y": -1.165150119043475,
+        "z": -1.7532452086310089
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Foyer",
+      "description": "",
+      "position": {
+        "x": -2.4391137307209636,
+        "y": -1.0174265616309988,
+        "z": -0.011806566240601113
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "First floor bedroom",
+      "description": "",
+      "position": {
+        "x": -9.093132577178167,
+        "y": -1.011727626753207,
+        "z": 1.1592232990518871
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "First floor bathroom",
+      "description": "",
+      "position": {
+        "x": -6.649112590670596,
+        "y": -1.0410382224714911,
+        "z": 2.2357007156743407
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "First floor living room",
+      "description": "",
+      "position": {
+        "x": -4.007053532176151,
+        "y": -1.0136688015406807,
+        "z": 2.1202537458725415
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Main living room",
+      "description": "",
+      "position": {
+        "x": -5.54710937999606,
+        "y": 1.662553559102322,
+        "z": 0.9484454513510387
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": -8.77381159573379,
+        "y": 1.6419231014495275,
+        "z": 2.5993985422771866
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Master bedroom",
+      "description": "",
+      "position": {
+        "x": 1.1626855081290683,
+        "y": 1.6675410282993213,
+        "z": 1.3405739727693993
+      }
+    },
+    {
+      "id": "node_11",
+      "name": "Master bathroom",
+      "description": "",
+      "position": {
+        "x": -0.9782343253670716,
+        "y": 1.6530386285168899,
+        "z": 2.208862167101564
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_8",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_7",
+      "to": "node_11"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_11",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_10",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_7",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_3",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_3",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_3",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_3",
+      "to": "node_1"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_1",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_1",
+      "to": "node_0"
+    }
+  ]
+}

ground_truth/graphs/HM3D00008-graph.json

@@ -0,0 +1,231 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Entry landing",
+      "description": "Of the main entrance to the living room",
+      "position": {
+        "x": 11.384816039705443,
+        "y": 0.2799011349109996,
+        "z": -6.998482693554778
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Poolside patio",
+      "description": "with loungers",
+      "position": {
+        "x": -0.5662712043036331,
+        "y": 0.296062988700519,
+        "z": 3.498295217211769
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Guest Bathroom",
+      "description": "With redwood floor",
+      "position": {
+        "x": 5.738654643572007,
+        "y": 0.7403269721125707,
+        "z": -7.489293258494399
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Dining space",
+      "description": "",
+      "position": {
+        "x": 2.0258455922108376,
+        "y": 0.31448988761028146,
+        "z": -4.715061846154395
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Covered Patio",
+      "description": "",
+      "position": {
+        "x": 2.565336940397445,
+        "y": 0.28974855655044357,
+        "z": 0.19910951070533045
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Main Livingroom",
+      "description": "With redwood floor",
+      "position": {
+        "x": 8.29637913154888,
+        "y": 0.31953126060896614,
+        "z": -2.1732727183972536
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Twin bedroom",
+      "description": "With redwood floor and two twin-sized beds",
+      "position": {
+        "x": 8.769640929000673,
+        "y": -2.7612714647502923,
+        "z": 2.6570660395857395
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": 9.971526340314975,
+        "y": -2.7555980972821814,
+        "z": -4.155872030144397
+      }
+    },
+    {
+      "id": "node_11",
+      "name": "Backyard",
+      "description": "",
+      "position": {
+        "x": 11.565515234087222,
+        "y": -2.788158340636568,
+        "z": -2.302727889750982
+      }
+    },
+    {
+      "id": "node_12",
+      "name": "Twin bedroom bathroom",
+      "description": "",
+      "position": {
+        "x": 8.282746058900914,
+        "y": -2.754798637546057,
+        "z": 0.29003336501182564
+      }
+    },
+    {
+      "id": "node_13",
+      "name": "Basement public rest area",
+      "description": "",
+      "position": {
+        "x": 6.679744212121827,
+        "y": -2.756063507765538,
+        "z": -2.5029089976175882
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Basement collection rooom",
+      "description": "",
+      "position": {
+        "x": 2.222335936954286,
+        "y": -2.7446085740069552,
+        "z": -3.6819266479364012
+      }
+    },
+    {
+      "id": "node_15",
+      "name": "Basement big bed bedroom",
+      "description": "",
+      "position": {
+        "x": 4.69082302884982,
+        "y": -2.753572306881245,
+        "z": 3.8637386461381404
+      }
+    },
+    {
+      "id": "node_16",
+      "name": "Master bedroom on the top floor",
+      "description": "",
+      "position": {
+        "x": 0.33042908494748535,
+        "y": 3.431049794430426,
+        "z": -4.011621685195183
+      }
+    },
+    {
+      "id": "node_17",
+      "name": "Bathroom of the big bed bedroom downstairs",
+      "description": "",
+      "position": {
+        "x": 3.393034034308196,
+        "y": -0.5312060811816763,
+        "z": 5.515466316326425
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_16",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_6",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_6",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_6",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_6",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_5",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_6",
+      "to": "node_13"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_13",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_13",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_13",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_10",
+      "to": "node_11"
+    },
+    {
+      "id": "edge_11",
+      "from": "node_13",
+      "to": "node_15"
+    },
+    {
+      "id": "edge_12",
+      "from": "node_7",
+      "to": "node_12"
+    },
+    {
+      "id": "edge_13",
+      "from": "node_15",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_14",
+      "from": "node_11",
+      "to": "node_12"
+    }
+  ]
+}

ground_truth/graphs/HM3D00009-graph.json

@@ -0,0 +1,226 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Bedroom with white sheets",
+      "description": "And a skirt on the bed",
+      "position": {
+        "x": 19.596145774265228,
+        "y": 0.7701366930410238,
+        "z": 3.498658250350722
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Kitchen with checkered floor",
+      "description": "",
+      "position": {
+        "x": 14.085162238126172,
+        "y": 0.29972826372914624,
+        "z": -0.9588727040788476
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Dining room with rounded table",
+      "description": "",
+      "position": {
+        "x": 10.515337057875907,
+        "y": 0.3014703588546201,
+        "z": 0.8695609173388537
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Bedroom with big round patterned sheets",
+      "description": "",
+      "position": {
+        "x": 2.2411870487260366,
+        "y": 0.2914489188976301,
+        "z": -1.8540099003315231
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Dressing room",
+      "description": "",
+      "position": {
+        "x": 2.063675567967701,
+        "y": 0.29963732838644414,
+        "z": 9.150768766724234
+      }
+    },
+    {
+      "id": "node_5",
+      "name": "Shower room with blue mosaic floor",
+      "description": "",
+      "position": {
+        "x": 3.0412539375095045,
+        "y": 0.30437820607604954,
+        "z": 6.138686694356155
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Toilet",
+      "description": "",
+      "position": {
+        "x": 2.880864800251136,
+        "y": 0.3015694351099835,
+        "z": 4.468794419342115
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Storege room",
+      "description": "",
+      "position": {
+        "x": 2.5046203059591994,
+        "y": 0.29155000591351427,
+        "z": 3.1437869996618906
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Living room with black leather sofa",
+      "description": "",
+      "position": {
+        "x": -2.7938968713043506,
+        "y": 0.2915994466832689,
+        "z": -0.32348929466999743
+      }
+    },
+    {
+      "id": "node_9",
+      "name": "Living room with white sofa",
+      "description": "",
+      "position": {
+        "x": 7.605879483295697,
+        "y": 0.29288076475449215,
+        "z": 0.4707180238770108
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "Bedroom with pink style",
+      "description": "",
+      "position": {
+        "x": -1.6030673726140896,
+        "y": 0.293875800441959,
+        "z": 5.301741216194102
+      }
+    },
+    {
+      "id": "node_11",
+      "name": "Foyer next to the black leather sofa living room",
+      "description": "",
+      "position": {
+        "x": -0.1147825597351666,
+        "y": 0.2942601938994393,
+        "z": 2.393981541402197
+      }
+    },
+    {
+      "id": "node_13",
+      "name": "Second floor stair landing space",
+      "description": "",
+      "position": {
+        "x": 6.9073385382794665,
+        "y": 2.8674446128608517,
+        "z": 1.7442464331175325
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Second floor bedroom with brown color theme",
+      "description": "",
+      "position": {
+        "x": 10.571247171277458,
+        "y": 2.690666910892836,
+        "z": 3.593762127195654
+      }
+    },
+    {
+      "id": "node_15",
+      "name": "Second floor bedroom with black and white sheets",
+      "description": "",
+      "position": {
+        "x": 3.9692588615387345,
+        "y": 3.071738530829605,
+        "z": 1.7228086536082328
+      }
+    }
+  ],
+  "edges": [
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+      "id": "edge_0",
+      "from": "node_11",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_11",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_11",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_11",
+      "to": "node_5"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_11",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_11",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_11",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_11",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_9",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_2",
+      "to": "node_1"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_1",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_11",
+      "from": "node_13",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_12",
+      "from": "node_13",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_13",
+      "from": "node_13",
+      "to": "node_15"
+    }
+  ]
+}

ground_truth/graphs/HM3D00010-graph.json

@@ -0,0 +1,186 @@
+{
+  "nodes": [
+    {
+      "id": "node_16",
+      "name": "Entrance hallway with no clutter",
+      "description": "",
+      "position": {
+        "x": 0.0970712409745561,
+        "y": 0.28407971899216483,
+        "z": 4.003318224600566
+      }
+    },
+    {
+      "id": "node_17",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": 2.275632970577399,
+        "y": 0.28927325206934745,
+        "z": 5.453251761227873
+      }
+    },
+    {
+      "id": "node_18",
+      "name": "Entrance hallway with clutter",
+      "description": "",
+      "position": {
+        "x": 12.527489513848863,
+        "y": 0.31433164835283306,
+        "z": 4.511810856242391
+      }
+    },
+    {
+      "id": "node_19",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": 10.58207911644759,
+        "y": 0.3094963238753749,
+        "z": 6.30823718886396
+      }
+    },
+    {
+      "id": "node_21",
+      "name": "Home office",
+      "description": "",
+      "position": {
+        "x": 10.820813224046915,
+        "y": 0.3049052448213196,
+        "z": 8.955374365088659
+      }
+    },
+    {
+      "id": "node_22",
+      "name": "Living room with patterned rug",
+      "description": "",
+      "position": {
+        "x": 4.6333150001451155,
+        "y": 0.3039366510285035,
+        "z": 9.11036215905234
+      }
+    },
+    {
+      "id": "node_23",
+      "name": "Living room with woven rug",
+      "description": "",
+      "position": {
+        "x": 6.04098838068891,
+        "y": 0.12540688705553044,
+        "z": 1.1832906293641798
+      }
+    },
+    {
+      "id": "node_24",
+      "name": "Master bedroom",
+      "description": "with its own bathroom",
+      "position": {
+        "x": -3.8475350393578918,
+        "y": 0.30519822018646464,
+        "z": 9.285616192191451
+      }
+    },
+    {
+      "id": "node_25",
+      "name": "Bedroom with beige sheets",
+      "description": "",
+      "position": {
+        "x": -4.682879652070438,
+        "y": 0.31115173960313064,
+        "z": 5.735066695957487
+      }
+    },
+    {
+      "id": "node_26",
+      "name": "Bedroom with patterned sheets",
+      "description": "",
+      "position": {
+        "x": -3.8113898538194766,
+        "y": 0.30693927607853516,
+        "z": 0.8662990166769244
+      }
+    },
+    {
+      "id": "node_27",
+      "name": "Guest bathroom next to bedrooms",
+      "description": "",
+      "position": {
+        "x": -1.6376198013141454,
+        "y": 0.294576671531755,
+        "z": 3.089352898254881
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_14",
+      "from": "node_16",
+      "to": "node_27"
+    },
+    {
+      "id": "edge_15",
+      "from": "node_16",
+      "to": "node_26"
+    },
+    {
+      "id": "edge_16",
+      "from": "node_16",
+      "to": "node_25"
+    },
+    {
+      "id": "edge_17",
+      "from": "node_16",
+      "to": "node_24"
+    },
+    {
+      "id": "edge_18",
+      "from": "node_16",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_19",
+      "from": "node_17",
+      "to": "node_22"
+    },
+    {
+      "id": "edge_20",
+      "from": "node_16",
+      "to": "node_23"
+    },
+    {
+      "id": "edge_21",
+      "from": "node_23",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_22",
+      "from": "node_23",
+      "to": "node_19"
+    },
+    {
+      "id": "edge_23",
+      "from": "node_18",
+      "to": "node_19"
+    },
+    {
+      "id": "edge_24",
+      "from": "node_22",
+      "to": "node_21"
+    },
+    {
+      "id": "edge_25",
+      "from": "node_18",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_26",
+      "from": "node_21",
+      "to": "node_18"
+    },
+    {
+      "id": "edge_27",
+      "from": "node_27",
+      "to": "node_26"
+    }
+  ]
+}

ground_truth/graphs/HM3D00011-graph.json

@@ -0,0 +1,276 @@
+{
+  "nodes": [
+    {
+      "id": "node_1",
+      "name": "Garage",
+      "description": "",
+      "position": {
+        "x": 14.277594006096715,
+        "y": -2.6181103106365606,
+        "z": 2.777753005989495
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Wine cellar",
+      "description": "",
+      "position": {
+        "x": 4.941579648050453,
+        "y": -2.535921046593722,
+        "z": 2.3343373260507807
+      }
+    },
+    {
+      "id": "node_3",
+      "name": "Basement foyer",
+      "description": "",
+      "position": {
+        "x": 4.670321353264902,
+        "y": -2.5286284216029857,
+        "z": -0.3396131619359737
+      }
+    },
+    {
+      "id": "node_4",
+      "name": "Basement chatroom",
+      "description": "with small sofa and wooden coffee table",
+      "position": {
+        "x": 0.919737322025985,
+        "y": -2.496841391533837,
+        "z": 1.898873220755593
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Elevator",
+      "description": "",
+      "position": {
+        "x": 23.061109695580967,
+        "y": 0.2981636734871184,
+        "z": 3.25080150571387
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "Home office",
+      "description": "",
+      "position": {
+        "x": 20.062371693326497,
+        "y": -0.20551666159166332,
+        "z": 2.5562356530274655
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Big room containing Living room and Dining room and part of Kitchen",
+      "description": "",
+      "position": {
+        "x": 3.2786401171364994,
+        "y": -0.1322327156727255,
+        "z": 1.1006671775781203
+      }
+    },
+    {
+      "id": "node_9",
+      "name": "Main chat room with two facing sofa",
+      "description": "",
+      "position": {
+        "x": 15.196975098369743,
+        "y": 0.305007432153568,
+        "z": 1.1332435113984172
+      }
+    },
+    {
+      "id": "node_10",
+      "name": "First floor hallway",
+      "description": "",
+      "position": {
+        "x": 18.127951934445058,
+        "y": 0.28620409243127937,
+        "z": -0.4987510767668599
+      }
+    },
+    {
+      "id": "node_11",
+      "name": "First floor foyer",
+      "description": "",
+      "position": {
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+        "y": 0.30093960079377985,
+        "z": 1.4243058347080206
+      }
+    },
+    {
+      "id": "node_13",
+      "name": "Kitchen corridor",
+      "description": "",
+      "position": {
+        "x": 11.290629801821343,
+        "y": -0.34364160678700345,
+        "z": 3.5655114661794345
+      }
+    },
+    {
+      "id": "node_14",
+      "name": "Top floor rest area",
+      "description": "with two chairs",
+      "position": {
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+        "y": 3.709127994284855,
+        "z": 1.9070937675823263
+      }
+    },
+    {
+      "id": "node_15",
+      "name": "Top floor hallway",
+      "description": "",
+      "position": {
+        "x": 15.111906033430488,
+        "y": 3.9114883200329444,
+        "z": -1.134865627033932
+      }
+    },
+    {
+      "id": "node_16",
+      "name": "Master bedroom",
+      "description": "",
+      "position": {
+        "x": 1.0516238945771121,
+        "y": 3.7032203766931273,
+        "z": 1.0064510966869484
+      }
+    },
+    {
+      "id": "node_17",
+      "name": "Bedroom with pink blanket",
+      "description": "",
+      "position": {
+        "x": 11.801078983786695,
+        "y": 3.697766962693474,
+        "z": 2.719054616661591
+      }
+    },
+    {
+      "id": "node_18",
+      "name": "Bedroom with golden blanket",
+      "description": "",
+      "position": {
+        "x": 18.01758869409826,
+        "y": 2.964832992075176,
+        "z": 2.721141094447422
+      }
+    },
+    {
+      "id": "node_19",
+      "name": "Bedroom with gray blanket",
+      "description": "",
+      "position": {
+        "x": 26.43457228395326,
+        "y": 3.7152301584762286,
+        "z": 1.4871256903087735
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_0",
+      "from": "node_1",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_1",
+      "from": "node_3",
+      "to": "node_2"
+    },
+    {
+      "id": "edge_2",
+      "from": "node_3",
+      "to": "node_4"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_10",
+      "to": "node_3"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_10",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_10",
+      "to": "node_9"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_10",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_1",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_8",
+      "from": "node_11",
+      "to": "node_6"
+    },
+    {
+      "id": "edge_9",
+      "from": "node_11",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_12",
+      "from": "node_9",
+      "to": "node_13"
+    },
+    {
+      "id": "edge_13",
+      "from": "node_13",
+      "to": "node_8"
+    },
+    {
+      "id": "edge_14",
+      "from": "node_6",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_15",
+      "from": "node_11",
+      "to": "node_14"
+    },
+    {
+      "id": "edge_16",
+      "from": "node_14",
+      "to": "node_19"
+    },
+    {
+      "id": "edge_17",
+      "from": "node_14",
+      "to": "node_15"
+    },
+    {
+      "id": "edge_18",
+      "from": "node_15",
+      "to": "node_18"
+    },
+    {
+      "id": "edge_19",
+      "from": "node_15",
+      "to": "node_17"
+    },
+    {
+      "id": "edge_20",
+      "from": "node_15",
+      "to": "node_16"
+    },
+    {
+      "id": "edge_21",
+      "from": "node_7",
+      "to": "node_9"
+    }
+  ]
+}

ground_truth/graphs/HM3D00012-graph.json

@@ -0,0 +1,206 @@
+{
+  "nodes": [
+    {
+      "id": "node_20",
+      "name": "Basement bedroom",
+      "description": "",
+      "position": {
+        "x": 4.516143067123724,
+        "y": -2.368281394787119,
+        "z": -7.4724256825859605
+      }
+    },
+    {
+      "id": "node_21",
+      "name": "Pool room",
+      "description": "",
+      "position": {
+        "x": 5.956588950662518,
+        "y": -2.3718158903827424,
+        "z": -0.36129424513812536
+      }
+    },
+    {
+      "id": "node_22",
+      "name": "Basement stair landing",
+      "description": "",
+      "position": {
+        "x": 4.099882326725005,
+        "y": -2.373014183461515,
+        "z": -3.980641846184832
+      }
+    },
+    {
+      "id": "node_23",
+      "name": "Basement bathroom",
+      "description": "",
+      "position": {
+        "x": 1.9090636143690105,
+        "y": -2.366645826599634,
+        "z": -5.028301502775378
+      }
+    },
+    {
+      "id": "node_24",
+      "name": "Piano room",
+      "description": "",
+      "position": {
+        "x": 1.6419482659487263,
+        "y": 0.30815269772357395,
+        "z": -6.977092448481125
+      }
+    },
+    {
+      "id": "node_25",
+      "name": "Dining room witg glass table and white chairs",
+      "description": "",
+      "position": {
+        "x": -3.753101969554381,
+        "y": 0.34928678663229745,
+        "z": -6.950264015546923
+      }
+    },
+    {
+      "id": "node_26",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
+        "x": -3.497106931558444,
+        "y": 0.30717102248870737,
+        "z": -3.6185436217173947
+      }
+    },
+    {
+      "id": "node_27",
+      "name": "Living room and a small dining area",
+      "description": "",
+      "position": {
+        "x": -0.9227981741075215,
+        "y": 0.31781153654427213,
+        "z": -0.49404726222726314
+      }
+    },
+    {
+      "id": "node_28",
+      "name": "Master bedroom",
+      "description": "",
+      "position": {
+        "x": 4.737030804865888,
+        "y": 0.3011012390546696,
+        "z": 0.04812634437763297
+      }
+    },
+    {
+      "id": "node_29",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": 4.4443560796712465,
+        "y": -0.23328716269955124,
+        "z": -8.754542755781479
+      }
+    },
+    {
+      "id": "node_30",
+      "name": "Guest bedroom",
+      "description": "",
+      "position": {
+        "x": 6.815233530267706,
+        "y": 0.29810945273856254,
+        "z": -7.416306719231738
+      }
+    },
+    {
+      "id": "node_31",
+      "name": "Guest bathroom",
+      "description": "",
+      "position": {
+        "x": 6.306927445024899,
+        "y": 0.29364358792580275,
+        "z": -5.242810283179389
+      }
+    },
+    {
+      "id": "node_32",
+      "name": "First floor hallway",
+      "description": "",
+      "position": {
+        "x": -0.80871120632426,
+        "y": 0.2935634559635531,
+        "z": -5.688065513253543
+      }
+    }
+  ],
+  "edges": [
+    {
+      "id": "edge_21",
+      "from": "node_22",
+      "to": "node_21"
+    },
+    {
+      "id": "edge_22",
+      "from": "node_22",
+      "to": "node_20"
+    },
+    {
+      "id": "edge_23",
+      "from": "node_22",
+      "to": "node_23"
+    },
+    {
+      "id": "edge_24",
+      "from": "node_32",
+      "to": "node_25"
+    },
+    {
+      "id": "edge_25",
+      "from": "node_32",
+      "to": "node_26"
+    },
+    {
+      "id": "edge_26",
+      "from": "node_26",
+      "to": "node_25"
+    },
+    {
+      "id": "edge_27",
+      "from": "node_32",
+      "to": "node_27"
+    },
+    {
+      "id": "edge_28",
+      "from": "node_27",
+      "to": "node_26"
+    },
+    {
+      "id": "edge_29",
+      "from": "node_22",
+      "to": "node_32"
+    },
+    {
+      "id": "edge_30",
+      "from": "node_32",
+      "to": "node_24"
+    },
+    {
+      "id": "edge_31",
+      "from": "node_32",
+      "to": "node_31"
+    },
+    {
+      "id": "edge_32",
+      "from": "node_32",
+      "to": "node_30"
+    },
+    {
+      "id": "edge_33",
+      "from": "node_32",
+      "to": "node_29"
+    },
+    {
+      "id": "edge_34",
+      "from": "node_28",
+      "to": "node_32"
+    }
+  ]
+}

ground_truth/graphs/HM3D00014-graph.json

@@ -0,0 +1,211 @@
+{
+  "nodes": [
+    {
+      "id": "node_33",
+      "name": "Big shared office space",
+      "description": "At the end of hallway and with a pillar in the middle of room",
+      "position": {
+        "x": -3.3825191388374747,
+        "y": 0.4466609234457863,
+        "z": -1.4417846090021778
+      }
+    },
+    {
+      "id": "node_34",
+      "name": "Meeting space with cyan chairs",
+      "description": "",
+      "position": {
+        "x": 2.575300893332347,
+        "y": 0.29890879803719556,
+        "z": -3.222657695595665
+      }
+    },
+    {
+      "id": "node_35",
+      "name": "Main hallway",
+      "description": "",
+      "position": {
+        "x": 7.645056743536239,
+        "y": 0.2975585541507481,
+        "z": -1.9516361398516677
+      }
+    },
+    {
+      "id": "node_36",
+      "name": "Office of two with blue round table",
+      "description": "",
+      "position": {
+        "x": 7.734895729841495,
+        "y": 0.8770655558909979,
+        "z": -3.830712333893147
+      }
+    },
+    {
+      "id": "node_37",
+      "name": "Rest area",
+      "description": "",
+      "position": {
+        "x": 20.19339014142225,
+        "y": 0.302457133953321,
+        "z": -3.412488442558908
+      }
+    },
+    {
+      "id": "node_38",
+      "name": "Meeting room with white table green chairs",
+      "description": "",
+      "position": {
+        "x": 12.300438585012733,
+        "y": 1.0514411464729811,
+        "z": 0.9403948189806295
+      }
+    },
+    {
+      "id": "node_39",
+      "name": "Meeting room with wooden table white chairs",
+      "description": "",
+      "position": {
+        "x": 17.11214301473963,
+        "y": 1.088608999526467,
+        "z": 2.068187319975911
+      }
+    },
+    {
+      "id": "node_40",
+      "name": "Meeting room with wooden table black chairs",
+      "description": "",
+      "position": {
+        "x": 21.74683727579822,
+        "y": 1.0577534220060942,
+        "z": 1.6921411504912793
+      }
+    },
+    {
+      "id": "node_41",
+      "name": "Smaller shared office of five at end of hallway",
+      "description": "",
+      "position": {
+        "x": 46.61401227307517,
+        "y": 0.29483188956136813,
+        "z": -3.1562678426914372
+      }
+    },
+    {
+      "id": "node_42",
+      "name": "Shared office of 10",
+      "description": "",
+      "position": {
+        "x": 39.5121726427294,
+        "y": 0.2959113082799398,
+        "z": 0.4526330021557974
+      }
+    },
+    {
+      "id": "node_43",
+      "name": "Single office with black chair and no painting",
+      "description": "",
+      "position": {
+        "x": 37.555252121183926,
+        "y": 0.29759587370321866,
+        "z": -4.663047839305203
+      }
+    },
+    {
+      "id": "node_44",
+      "name": "Shared office of 5 in the middle of hallway",
+      "description": "",
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+      "name": "Single office with white table and greenish gray chair",
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+    {
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+      "to": "node_42"
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+  ]
+}

ground_truth/graphs/HM3D00015-graph.json

@@ -0,0 +1,261 @@
+{
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+      "name": "Garage",
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+      "name": "Guest bathroom",
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+      "name": "Bedroom with green pattern sheets",
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+      "name": "Top floor shared bathroom",
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+    {
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+      "name": "Bedroom with white and blue sheets",
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+      "from": "node_62",
+      "to": "node_65"
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+  ]
+}

ground_truth/graphs/HM3D00019-graph.json

@@ -0,0 +1,171 @@
+{
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+      "name": "First floor hallway and stair landing",
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+      "name": "Dining room",
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+      "from": "node_72",
+      "to": "node_77"
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+  ]
+}

ground_truth/graphs/HM3D00020-graph.json

@@ -0,0 +1,126 @@
+{
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+      "id": "node_78",
+      "name": "Bedroom with white sheets",
+      "description": "",
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+      "name": "Bedroom with white and blue sheets",
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+      "name": "Top floor bathroom",
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+      "name": "Top floor stair landing",
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+      "name": "Dining room",
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+      "name": "Living room",
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+  ]
+}

ground_truth/graphs/HM3D00021-graph.json

@@ -0,0 +1,171 @@
+{
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+      "id": "node_86",
+      "name": "Bedroom with bed on the room corner",
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+      "name": "Second floor bathroom",
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+    },
+    {
+      "id": "node_93",
+      "name": "Second floor rest space with gray sofa and white book shelf",
+      "description": "",
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+        "z": -0.8186502599334184
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+      "name": "Yard",
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+      "id": "node_95",
+      "name": "Garage",
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+    {
+      "id": "node_96",
+      "name": "First floor hallway",
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+      "id": "node_97",
+      "name": "Entrance foyer",
+      "description": "",
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+        "y": -2.5268213992838477,
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+    },
+    {
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+      "name": "First floor rest area",
+      "description": "",
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+      "from": "node_97",
+      "to": "node_90"
+    },
+    {
+      "id": "edge_94",
+      "from": "node_90",
+      "to": "node_92"
+    },
+    {
+      "id": "edge_95",
+      "from": "node_90",
+      "to": "node_93"
+    },
+    {
+      "id": "edge_96",
+      "from": "node_90",
+      "to": "node_88"
+    }
+  ]
+}

ground_truth/graphs/HM3D00022-graph.json

@@ -0,0 +1,256 @@
+{
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+      "name": "Patio and yard",
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+      "description": "",
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+      "name": "Master bedroom",
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+      "name": "Dining space",
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+        "y": 0.6151952764072377,
+        "z": -4.183556302388839
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+    },
+    {
+      "id": "node_105",
+      "name": "Smaller living room with sofa",
+      "description": "",
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+        "y": 0.3196208935213029,
+        "z": 0.18138454311707441
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+      "name": "Master bedroom bathroom",
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+        "z": 7.616794942342979
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+    },
+    {
+      "id": "node_107",
+      "name": "Home office next to entrance",
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+      "name": "Bedroom with pink sheets",
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+      "name": "Bedroom with stripe sheets",
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+    },
+    {
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+      "name": "Second floor shared bathroom with red rug",
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+    },
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+      "name": "Bathroom between two bedrooms",
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+        "y": 4.392666865163009,
+        "z": 3.601918773727829
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+    },
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+      "name": "Bedroom with gray wall",
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+        "y": 3.7626028759969232,
+        "z": 3.62654015262276
+      }
+    },
+    {
+      "id": "node_116",
+      "name": "Bedroom with stripe wallpaper",
+      "description": "",
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+        "z": 2.7879598639144296
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+      "to": "node_101"
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+      "to": "node_101"
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+      "to": "node_100"
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+      "to": "node_104"
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+      "from": "node_99",
+      "to": "node_100"
+    },
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+      "from": "node_108",
+      "to": "node_109"
+    },
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+      "to": "node_110"
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+      "id": "edge_109",
+      "from": "node_101",
+      "to": "node_108"
+    },
+    {
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+      "from": "node_108",
+      "to": "node_111"
+    },
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+      "to": "node_108"
+    },
+    {
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+      "from": "node_108",
+      "to": "node_115"
+    },
+    {
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+      "to": "node_116"
+    },
+    {
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+      "from": "node_115",
+      "to": "node_114"
+    },
+    {
+      "id": "edge_115",
+      "from": "node_114",
+      "to": "node_116"
+    },
+    {
+      "id": "edge_116",
+      "from": "node_113",
+      "to": "node_111"
+    }
+  ]
+}

ground_truth/graphs/HM3D00025-graph.json

@@ -0,0 +1,236 @@
+{
+  "nodes": [
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+      "name": "Master bedroom foyer",
+      "description": "",
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+      "name": "Master bedroom bathroom",
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+        "z": 1.970947511397175
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+      "name": "Master bedroom home office",
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+    },
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+      "name": "Top floor stair landing and hallway",
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+        "z": 1.775429477122087
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+    },
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+      "id": "node_122",
+      "name": "Top floor smaller bedroom",
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+        "y": 3.471374528658182,
+        "z": -2.08756997066195
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+      "name": "Master bedroom bed space",
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+        "z": -2.729556665946722
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+    },
+    {
+      "id": "node_125",
+      "name": "Master bedroom closet",
+      "description": "",
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+    },
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+      "name": "Main living space containing living room kitchen and dining space",
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+    },
+    {
+      "id": "node_127",
+      "name": "Second floor bathroom",
+      "description": "",
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+        "y": 0.3195236881274834,
+        "z": 1.8827076677905847
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+    },
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+      "id": "node_128",
+      "name": "Elevator",
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+    },
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+      "id": "node_129",
+      "name": "First floor living room and kitchen",
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+        "y": -2.5011238944817498,
+        "z": -2.4998078602866656
+      }
+    },
+    {
+      "id": "node_130",
+      "name": "First floor bedroom with bright sheets",
+      "description": "",
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+        "y": -2.509361147957594,
+        "z": -1.9394785429499841
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+    },
+    {
+      "id": "node_131",
+      "name": "First floor bedroom with twin beds",
+      "description": "",
+      "position": {
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+        "y": -2.500449223432615,
+        "z": 0.8160456483817402
+      }
+    },
+    {
+      "id": "node_132",
+      "name": "First floor bathroom",
+      "description": "",
+      "position": {
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+        "y": -2.499820289060211,
+        "z": 1.763774882211668
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+      "to": "node_117"
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+      "from": "node_119",
+      "to": "node_117"
+    },
+    {
+      "id": "edge_118",
+      "from": "node_117",
+      "to": "node_120"
+    },
+    {
+      "id": "edge_120",
+      "from": "node_120",
+      "to": "node_122"
+    },
+    {
+      "id": "edge_121",
+      "from": "node_120",
+      "to": "node_121"
+    },
+    {
+      "id": "edge_122",
+      "from": "node_124",
+      "to": "node_117"
+    },
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+      "id": "edge_123",
+      "from": "node_124",
+      "to": "node_125"
+    },
+    {
+      "id": "edge_124",
+      "from": "node_126",
+      "to": "node_128"
+    },
+    {
+      "id": "edge_125",
+      "from": "node_126",
+      "to": "node_127"
+    },
+    {
+      "id": "edge_126",
+      "from": "node_129",
+      "to": "node_132"
+    },
+    {
+      "id": "edge_127",
+      "from": "node_129",
+      "to": "node_131"
+    },
+    {
+      "id": "edge_128",
+      "from": "node_129",
+      "to": "node_130"
+    },
+    {
+      "id": "edge_129",
+      "from": "node_129",
+      "to": "node_126"
+    },
+    {
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+      "from": "node_129",
+      "to": "node_128"
+    },
+    {
+      "id": "edge_131",
+      "from": "node_126",
+      "to": "node_120"
+    },
+    {
+      "id": "edge_132",
+      "from": "node_128",
+      "to": "node_120"
+    }
+  ]
+}

ground_truth/graphs/HM3D00027-graph.json

@@ -0,0 +1,136 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Entrance foyer and hallway",
+      "description": "",
+      "position": {
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+        "y": 0.30415797502172665,
+        "z": -0.1563001301231196
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Bedroom next to entrance",
+      "description": "",
+      "position": {
+        "x": 1.3385200847764525,
+        "y": 0.29541576189304236,
+        "z": 1.3810696447874085
+      }
+    },
+    {
+      "id": "node_2",
+      "name": "Bedroom with desk and chair",
+      "description": "",
+      "position": {
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+        "y": 0.29392761860549504,
+        "z": 1.549075527269633
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+    },
+    {
+      "id": "node_4",
+      "name": "Bedroom with big bed",
+      "description": "",
+      "position": {
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+        "y": 0.8295941688603563,
+        "z": -2.6880942269255614
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+    },
+    {
+      "id": "node_5",
+      "name": "Living room with TV",
+      "description": "",
+      "position": {
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+        "y": 0.2988008421284684,
+        "z": -2.632453811629012
+      }
+    },
+    {
+      "id": "node_6",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
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+        "y": 0.2894505351207625,
+        "z": 0.952742932702517
+      }
+    },
+    {
+      "id": "node_7",
+      "name": "bathroom",
+      "description": "",
+      "position": {
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+        "y": 0.3098677217133378,
+        "z": -0.04308043527178751
+      }
+    },
+    {
+      "id": "node_8",
+      "name": "Room with sewing machine",
+      "description": "",
+      "position": {
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+        "y": 0.2997209140422738,
+        "z": 2.4317439571917916
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+    },
+    {
+      "id": "node_9",
+      "name": "Family room leading to yard",
+      "description": "",
+      "position": {
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+        "y": 0.30997209292460964,
+        "z": 5.258596339814431
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+      "from": "node_8",
+      "to": "node_6"
+    },
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+      "from": "node_0",
+      "to": "node_7"
+    },
+    {
+      "id": "edge_3",
+      "from": "node_8",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_4",
+      "from": "node_2",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_5",
+      "from": "node_1",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_6",
+      "from": "node_5",
+      "to": "node_0"
+    },
+    {
+      "id": "edge_7",
+      "from": "node_0",
+      "to": "node_4"
+    }
+  ]
+}

ground_truth/graphs/HM3D00029-graph.json

@@ -0,0 +1,151 @@
+{
+  "nodes": [
+    {
+      "id": "node_119",
+      "name": "Master bedroom",
+      "description": "",
+      "position": {
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+        "y": 1.2943358772136808,
+        "z": -2.149041934417334
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+    },
+    {
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+      "name": "Master bedroom bathroom",
+      "description": "",
+      "position": {
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+        "y": 1.325876914826462,
+        "z": -3.4819495913572576
+      }
+    },
+    {
+      "id": "node_121",
+      "name": "Second floor stair landing and hallway",
+      "description": "",
+      "position": {
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+        "y": 1.2801623536404503,
+        "z": -1.8983589789284947
+      }
+    },
+    {
+      "id": "node_122",
+      "name": "Second floor shared bathroom",
+      "description": "",
+      "position": {
+        "x": -8.453819958670291,
+        "y": 1.286671007208651,
+        "z": -3.595328949498633
+      }
+    },
+    {
+      "id": "node_123",
+      "name": "Bedroom with gray sheets and rug",
+      "description": "",
+      "position": {
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+        "y": 1.331243237182494,
+        "z": -2.4544713988577085
+      }
+    },
+    {
+      "id": "node_124",
+      "name": "Bedroom with colorful sheets",
+      "description": "",
+      "position": {
+        "x": -10.489857857986319,
+        "y": 0.9253607731999438,
+        "z": 0.003843666602291851
+      }
+    },
+    {
+      "id": "node_125",
+      "name": "Foyer",
+      "description": "",
+      "position": {
+        "x": -1.8777152335931024,
+        "y": -1.4918712143453259,
+        "z": 0.03293850640949891
+      }
+    },
+    {
+      "id": "node_126",
+      "name": "Kitchen and dining space",
+      "description": "",
+      "position": {
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+        "y": -1.496500597960188,
+        "z": -1.0419843467729213
+      }
+    },
+    {
+      "id": "node_127",
+      "name": "Laundry room",
+      "description": "",
+      "position": {
+        "x": -2.469102513007909,
+        "y": -1.4961242978127556,
+        "z": -2.04188842571317
+      }
+    },
+    {
+      "id": "node_128",
+      "name": "Living room",
+      "description": "",
+      "position": {
+        "x": -8.953302146693071,
+        "y": -1.0418039098337928,
+        "z": -3.601265941960637
+      }
+    }
+  ],
+  "edges": [
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+      "to": "node_121"
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+      "from": "node_121",
+      "to": "node_123"
+    },
+    {
+      "id": "edge_126",
+      "from": "node_122",
+      "to": "node_121"
+    },
+    {
+      "id": "edge_127",
+      "from": "node_121",
+      "to": "node_119"
+    },
+    {
+      "id": "edge_128",
+      "from": "node_119",
+      "to": "node_120"
+    },
+    {
+      "id": "edge_129",
+      "from": "node_128",
+      "to": "node_126"
+    },
+    {
+      "id": "edge_130",
+      "from": "node_126",
+      "to": "node_125"
+    },
+    {
+      "id": "edge_131",
+      "from": "node_126",
+      "to": "node_127"
+    },
+    {
+      "id": "edge_132",
+      "from": "node_128",
+      "to": "node_121"
+    }
+  ]
+}

ground_truth/graphs/HM3D00032-graph.json

@@ -0,0 +1,231 @@
+{
+  "nodes": [
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+      "name": "Toy room",
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+      "id": "node_16",
+      "name": "Second floor smaller bedroom",
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+        "z": 0.533847777726514
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+      "name": "Second floor hallway and stair landing",
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+      "name": "Living room",
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+      "name": "First floor bathroom",
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+      "name": "Kitchen and dining area",
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+      "name": "Formal dining space",
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+    },
+    {
+      "id": "edge_22",
+      "from": "node_21",
+      "to": "node_17"
+    }
+  ]
+}

ground_truth/graphs/HM3D00033-graph.json

@@ -0,0 +1,106 @@
+{
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+      "name": "Laundry room",
+      "description": "",
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+      "name": "Entrance foyer and hallway",
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+      "name": "Bedroom with twin bed",
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+      "name": "Master bedroom",
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+    },
+    {
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+      "name": "Bathroom",
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+      "name": "Bedrooms foyer",
+      "description": "",
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+    },
+    {
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+      "from": "node_27",
+      "to": "node_31"
+    }
+  ]
+}

ground_truth/graphs/HM3D00034-graph.json

@@ -0,0 +1,156 @@
+{
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+      "name": "Entrance foyer and hallway",
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+      "name": "Kid bedroom",
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+      "id": "node_36",
+      "name": "Master bedroom",
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+        "y": 0.3037106583363098,
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+    },
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+      "name": "Shared bathroom",
+      "description": "",
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+        "y": 0.31549531575657247,
+        "z": 3.3613669553134793
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+    {
+      "id": "node_38",
+      "name": "Living room",
+      "description": "",
+      "position": {
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+        "y": 0.32414629897597463,
+        "z": 4.7891867082028545
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+    },
+    {
+      "id": "node_39",
+      "name": "Kitchen and dining room",
+      "description": "",
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+      "name": "Laundry room",
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+    },
+    {
+      "id": "node_42",
+      "name": "Basement apartment",
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+      "to": "node_38"
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+      "to": "node_39"
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+      "to": "node_37"
+    },
+    {
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+      "to": "node_36"
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+      "to": "node_34"
+    },
+    {
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+      "from": "node_32",
+      "to": "node_35"
+    },
+    {
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+      "to": "node_42"
+    },
+    {
+      "id": "edge_38",
+      "from": "node_41",
+      "to": "node_32"
+    }
+  ]
+}

ground_truth/graphs/HM3D00035-graph.json

@@ -0,0 +1,181 @@
+{
+  "nodes": [
+    {
+      "id": "node_43",
+      "name": "Staircase",
+      "description": "",
+      "position": {
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+      "name": "Master bedroom",
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+        "z": -1.0427099567974318
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+    },
+    {
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+      "name": "Home office and gym",
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+      "name": "Bedroom with floral sheets",
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+    {
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+      "name": "Bathroom with mat",
+      "description": "",
+      "position": {
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+        "y": -0.043118067034955854,
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+      "id": "node_48",
+      "name": "Master bedroom bathroom",
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+    {
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+      "name": "Top floor stair landing and hallway",
+      "description": "",
+      "position": {
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+        "y": 3.092049406801512,
+        "z": -0.8746609287588667
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+    },
+    {
+      "id": "node_51",
+      "name": "Second floor stair landing and hallway",
+      "description": "",
+      "position": {
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+        "y": -0.040640975969304105,
+        "z": -1.004065075956527
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+    {
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+      "name": "Kitchen",
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+        "y": -2.7931886986136325,
+        "z": -0.24664382908344662
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+    },
+    {
+      "id": "node_53",
+      "name": "Dining room",
+      "description": "",
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+        "y": -2.786065960680154,
+        "z": -1.1228234863575892
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+      "name": "Yard",
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+      "id": "node_55",
+      "name": "Entrance and living room",
+      "description": "",
+      "position": {
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+      "to": "node_51"
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+      "to": "node_51"
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+      "to": "node_51"
+    },
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+      "to": "node_43"
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+      "to": "node_52"
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+      "to": "node_53"
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+      "to": "node_54"
+    },
+    {
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+      "from": "node_52",
+      "to": "node_43"
+    }
+  ]
+}

ground_truth/graphs/HM3D00037-graph.json

@@ -0,0 +1,251 @@
+{
+  "nodes": [
+    {
+      "id": "node_56",
+      "name": "Crib room",
+      "description": "",
+      "position": {
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+        "y": 2.785150874344139,
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+    },
+    {
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+      "name": "Pink bedroom",
+      "description": "",
+      "position": {
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+        "y": 3.2143667949445254,
+        "z": 7.60780352129035
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+    },
+    {
+      "id": "node_59",
+      "name": "Second floor stair landing and hallway",
+      "description": "",
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+        "y": 3.196595173389489,
+        "z": 7.579113053075967
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+    },
+    {
+      "id": "node_60",
+      "name": "Bedroom with white sheets",
+      "description": "",
+      "position": {
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+        "y": 3.2113971520673603,
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+    },
+    {
+      "id": "node_61",
+      "name": "Bedroom with blue bed skirt",
+      "description": "",
+      "position": {
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+        "y": 3.2219877117473485,
+        "z": 3.492620422509979
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+    },
+    {
+      "id": "node_62",
+      "name": "Second floor bathroom",
+      "description": "",
+      "position": {
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+        "y": 3.2217226759049913,
+        "z": 6.855640096019104
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+    },
+    {
+      "id": "node_63",
+      "name": "Laundry room",
+      "description": "",
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+        "z": 4.028547752137028
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+    },
+    {
+      "id": "node_64",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
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+        "y": 1.2487003505380303,
+        "z": 1.067861967781511
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+    },
+    {
+      "id": "node_65",
+      "name": "Study room",
+      "description": "",
+      "position": {
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+        "y": 0.32678961118308364,
+        "z": 6.35137735048462
+      }
+    },
+    {
+      "id": "node_66",
+      "name": "First fllor bathroom",
+      "description": "",
+      "position": {
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+        "y": 0.3078995498873109,
+        "z": 8.903080609142199
+      }
+    },
+    {
+      "id": "node_67",
+      "name": "Main living room",
+      "description": "",
+      "position": {
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+        "y": 0.30696207773840384,
+        "z": 4.198874611553404
+      }
+    },
+    {
+      "id": "node_68",
+      "name": "Sunroom",
+      "description": "",
+      "position": {
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+        "y": 0.211321377304505,
+        "z": 8.62696732682273
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+    },
+    {
+      "id": "node_69",
+      "name": "First floor hallway and stair landing",
+      "description": "",
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ground_truth/graphs/HM3D00039-graph.json

@@ -0,0 +1,251 @@
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+}

ground_truth/graphs/HM3D00040-graph.json

@@ -0,0 +1,396 @@
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+}

ground_truth/graphs/MP3D00001-graph.json

@@ -0,0 +1,276 @@
+{
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+      "name": "Top floor master suite",
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+      "id": "node_4",
+      "name": "Kitchen and dining space",
+      "description": "",
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+      "name": "Livning room",
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+      "id": "node_6",
+      "name": "Home library",
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+      "id": "node_7",
+      "name": "Terrace",
+      "description": "",
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+        "y": 1.4522774868011468,
+        "z": 12.002291850182168
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+    },
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+      "id": "node_9",
+      "name": "Home gym",
+      "description": "",
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+      "id": "node_10",
+      "name": "Bedroom with orange cabinet",
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+      "id": "node_11",
+      "name": "Bedroom with magenta sheets",
+      "description": "",
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+    },
+    {
+      "id": "node_12",
+      "name": "Bedroom with brown sheets and white rug",
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+      "name": "Bedroom with white sheets",
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+      "name": "Bedroom with brown sheets and colorful rug",
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+      "name": "Basement bathroom with tub",
+      "description": "",
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+      "name": "Basement stair landing and hallway",
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+    {
+      "id": "node_17",
+      "name": "Basement bathroom with shower and no toilet",
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+    {
+      "id": "node_18",
+      "name": "Basement bathroom with only a toilet",
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+      "from": "node_2",
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+      "from": "node_4",
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+      "from": "node_7",
+      "to": "node_5"
+    },
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+      "to": "node_0"
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+      "from": "node_0",
+      "to": "node_1"
+    },
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+      "to": "node_17"
+    },
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+      "id": "edge_9",
+      "from": "node_16",
+      "to": "node_10"
+    },
+    {
+      "id": "edge_10",
+      "from": "node_16",
+      "to": "node_9"
+    },
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+      "id": "edge_11",
+      "from": "node_16",
+      "to": "node_11"
+    },
+    {
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+      "to": "node_12"
+    },
+    {
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+      "from": "node_16",
+      "to": "node_13"
+    },
+    {
+      "id": "edge_14",
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+      "to": "node_14"
+    },
+    {
+      "id": "edge_15",
+      "from": "node_16",
+      "to": "node_15"
+    },
+    {
+      "id": "edge_16",
+      "from": "node_16",
+      "to": "node_18"
+    },
+    {
+      "id": "edge_17",
+      "from": "node_3",
+      "to": "node_16"
+    }
+  ]
+}

ground_truth/graphs/MP3D00002-graph.json

@@ -0,0 +1,256 @@
+{
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+      "name": "Family play room",
+      "description": "With pool table",
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+      "name": "Bedroom with line pattern sheets",
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+      "name": "Bedroom with diamond grid sheets",
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+      "name": "Top floor stair landing and hallway",
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+      "name": "Master bedroom",
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+      "name": "Master suite bathroom",
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+      "name": "Walk in storage next to kitchen",
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+      "name": "Kitchen",
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+      "name": "Porch with outdoor furniture",
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+      "name": "Living room next to outdoor porch",
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+      "id": "node_37",
+      "name": "Living room with plants",
+      "description": "",
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+      "to": "node_24"
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+      "to": "node_27"
+    },
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+      "to": "node_20"
+    },
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+      "to": "node_21"
+    },
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+      "from": "node_31",
+      "to": "node_29"
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+      "from": "node_29",
+      "to": "node_30"
+    },
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+      "to": "node_28"
+    },
+    {
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+      "to": "node_37"
+    },
+    {
+      "id": "edge_29",
+      "from": "node_29",
+      "to": "node_34"
+    },
+    {
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+      "from": "node_34",
+      "to": "node_33"
+    },
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+      "to": "node_36"
+    },
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+      "to": "node_35"
+    },
+    {
+      "id": "edge_33",
+      "from": "node_29",
+      "to": "node_23"
+    }
+  ]
+}

ground_truth/graphs/MP3D00003-graph.json

@@ -0,0 +1,151 @@
+{
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+      "id": "node_39",
+      "name": "Entrance room",
+      "description": "",
+      "position": {
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+    },
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+      "name": "Kitchen and living space",
+      "description": "",
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+    },
+    {
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+      "name": "Laundry room",
+      "description": "",
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+        "y": 1.4756516336798662,
+        "z": -5.934765191715445
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+    },
+    {
+      "id": "node_43",
+      "name": "Bedroom with light gray sheets",
+      "description": "",
+      "position": {
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+        "y": 1.4756516336798662,
+        "z": -0.12549927909095837
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+    {
+      "id": "node_44",
+      "name": "Bathroom with tub",
+      "description": "",
+      "position": {
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+        "y": 1.4756516336798662,
+        "z": -1.7040975492339396
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+    },
+    {
+      "id": "node_45",
+      "name": "Bedroom with big bed and white sheets",
+      "description": "",
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+        "z": 0.5270035438859362
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+    },
+    {
+      "id": "node_46",
+      "name": "Second floor stair landing",
+      "description": "",
+      "position": {
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+        "y": 3.672569298744201,
+        "z": -2.617341700036209
+      }
+    },
+    {
+      "id": "node_47",
+      "name": "painting room",
+      "description": "",
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+    {
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+      "name": "Bathroom with only a toilet",
+      "description": "",
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+        "z": -6.080787110898254
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+    {
+      "id": "node_49",
+      "name": "Drum room",
+      "description": "",
+      "position": {
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+        "y": 3.672569298744201,
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+      "to": "node_42"
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+      "from": "node_40",
+      "to": "node_43"
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+    {
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+      "to": "node_44"
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+      "to": "node_49"
+    },
+    {
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+      "from": "node_46",
+      "to": "node_48"
+    },
+    {
+      "id": "edge_40",
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+      "to": "node_47"
+    },
+    {
+      "id": "edge_41",
+      "from": "node_46",
+      "to": "node_45"
+    },
+    {
+      "id": "edge_42",
+      "from": "node_46",
+      "to": "node_40"
+    }
+  ]
+}

ground_truth/graphs/MP3D00004-graph.json

@@ -0,0 +1,251 @@
+{
+  "nodes": [
+    {
+      "id": "node_51",
+      "name": "Top floor master bedroom",
+      "description": "",
+      "position": {
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+        "y": 5.098146003305913,
+        "z": 2.8139038906107388
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+    },
+    {
+      "id": "node_52",
+      "name": "Master bedroom bathroom",
+      "description": "",
+      "position": {
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+        "y": 5.098146003305911,
+        "z": 7.901938678975583
+      }
+    },
+    {
+      "id": "node_53",
+      "name": "Second floor stair landing and hallway",
+      "description": "",
+      "position": {
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+        "y": 5.098146003305913,
+        "z": 2.6768401129040535
+      }
+    },
+    {
+      "id": "node_54",
+      "name": "Kitchen",
+      "description": "",
+      "position": {
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+        "y": 1.216313162088395,
+        "z": 4.260952083495283
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+    },
+    {
+      "id": "node_55",
+      "name": "Pool room",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": 10.078510861273013
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+    },
+    {
+      "id": "node_56",
+      "name": "Main living room with formal dining table",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883967,
+        "z": 4.4928216598825
+      }
+    },
+    {
+      "id": "node_57",
+      "name": "Small chat room with round table of 4",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": 6.866660561557965
+      }
+    },
+    {
+      "id": "node_58",
+      "name": "Small sofa space with red rug",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": 2.877165405874237
+      }
+    },
+    {
+      "id": "node_59",
+      "name": "Small social space with sofa and table and animal rug",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": 3.003520084260444
+      }
+    },
+    {
+      "id": "node_60",
+      "name": "First floor main hallway",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": 1.3804134787855764
+      }
+    },
+    {
+      "id": "node_61",
+      "name": "Entrance foyer",
+      "description": "",
+      "position": {
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+        "y": 1.2163131620883931,
+        "z": -0.6742128882560223
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+    },
+    {
+      "id": "node_62",
+      "name": "Home office next to entrance",
+      "description": "",
+      "position": {
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+        "y": 1.216313162088395,
+        "z": -3.4300145951625343
+      }
+    },
+    {
+      "id": "node_63",
+      "name": "Connecting space next to entrance foyer leading to two bedrooms",
+      "description": "",
+      "position": {
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+        "y": 1.216313162088395,
+        "z": -1.093042612966966
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+    },
+    {
+      "id": "node_64",
+      "name": "Bedroom suite with red and dark rug",
+      "description": "",
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+        "z": -8.606465894676623
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+    },
+    {
+      "id": "node_65",
+      "name": "Bedroom suite with pink sheets",
+      "description": "",
+      "position": {
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+        "z": -0.15229758273158733
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+}

ground_truth/graphs/MP3D00006-graph.json

@@ -0,0 +1,91 @@
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+}

ground_truth/graphs/MP3D00007-graph.json

@@ -0,0 +1,271 @@
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+}

ground_truth/graphs/MP3D00008-graph.json

@@ -0,0 +1,301 @@
+{
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+}

ground_truth/graphs/MP3D00013-graph.json

@@ -0,0 +1,191 @@
+{
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+      "id": "node_111",
+      "name": "Entrance porch",
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+      "name": "Storage room next to social space",
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+        "z": -13.390712667169613
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+      "id": "node_121",
+      "name": "First floor stair landing",
+      "description": "",
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+        "y": 1.373559324741364,
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+      "to": "node_121"
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+}

ground_truth/graphs/MP3D00014-graph.json

@@ -0,0 +1,221 @@
+{
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+      "to": "node_126"
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+      "to": "node_125"
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+    },
+    {
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+      "to": "node_137"
+    }
+  ]
+}

ground_truth/graphs/MP3D00018-graph.json

@@ -0,0 +1,276 @@
+{
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+      "id": "node_0",
+      "name": "Yard",
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+      "name": "Top floor Suite with canopy bed",
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+      "name": "Bedroom suite with table of four",
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+      "name": "Second floor hallway to the left hand side of stair landing",
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+      "name": "First floor hallway to the elevator",
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+      "name": "First floor men bathroom",
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+      "name": "First floor woman bathroom",
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+      "to": "node_12"
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+      "to": "node_12"
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+      "to": "node_17"
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+      "to": "node_17"
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+      "to": "node_15"
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+      "to": "node_17"
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+    {
+      "id": "edge_16",
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+      "to": "node_12"
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+      "to": "node_9"
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+    },
+    {
+      "id": "edge_19",
+      "from": "node_15",
+      "to": "node_9"
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+  ]
+}

ground_truth/graphs/MP3D00020-graph.json

@@ -0,0 +1,156 @@
+{
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+      "id": "node_20",
+      "name": "Rooftop terrace",
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+      "name": "Office space",
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+      "name": "First floor stair landing and hallway",
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+    {
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+      "name": "Kitchen and dining space",
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+    {
+      "id": "node_24",
+      "name": "Bedroom with dark bed skirt",
+      "description": "",
+      "position": {
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+    },
+    {
+      "id": "node_25",
+      "name": "Bedroom with pink bed skirt",
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+    {
+      "id": "node_26",
+      "name": "Shared bathroom",
+      "description": "",
+      "position": {
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+    },
+    {
+      "id": "node_27",
+      "name": "Bathroom of bedroom with pink bed skirt",
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+    },
+    {
+      "id": "node_28",
+      "name": "Bathroom of bedroom with dark bed skirt",
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+    },
+    {
+      "id": "node_29",
+      "name": "Living space",
+      "description": "",
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+        "z": 4.432285644060244
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+      "to": "node_22"
+    },
+    {
+      "id": "edge_22",
+      "from": "node_22",
+      "to": "node_24"
+    },
+    {
+      "id": "edge_23",
+      "from": "node_28",
+      "to": "node_24"
+    },
+    {
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+      "from": "node_26",
+      "to": "node_22"
+    },
+    {
+      "id": "edge_25",
+      "from": "node_22",
+      "to": "node_23"
+    },
+    {
+      "id": "edge_26",
+      "from": "node_29",
+      "to": "node_23"
+    },
+    {
+      "id": "edge_27",
+      "from": "node_22",
+      "to": "node_29"
+    },
+    {
+      "id": "edge_28",
+      "from": "node_22",
+      "to": "node_21"
+    },
+    {
+      "id": "edge_29",
+      "from": "node_21",
+      "to": "node_20"
+    }
+  ]
+}

ground_truth/graphs/MP3D00025-graph.json

@@ -0,0 +1,231 @@
+{
+  "nodes": [
+    {
+      "id": "node_0",
+      "name": "Living space of the master suite",
+      "description": "With magenta rug",
+      "position": {
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+        "y": 1.0861464953422542,
+        "z": 3.8329317657535142
+      }
+    },
+    {
+      "id": "node_1",
+      "name": "Entrance foyer",
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+}

ground_truth/graphs/MP3D00027-graph.json

@@ -0,0 +1,376 @@
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+}

ground_truth/graphs/MP3D00030-graph.json

@@ -0,0 +1,286 @@
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+      "to": "node_57"
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+      "id": "edge_8",
+      "from": "node_56",
+      "to": "node_58"
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+    {
+      "id": "edge_9",
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+      "id": "edge_10",
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+      "to": "node_50"
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+      "to": "node_50"
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+      "to": "node_55"
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+    {
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+      "from": "node_52",
+      "to": "node_43"
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+      "to": "node_51"
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+      "id": "edge_17",
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+    {
+      "id": "edge_18",
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+      "to": "node_59"
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+    {
+      "id": "edge_19",
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+      "to": "node_59"
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+      "to": "node_55"
+    },
+    {
+      "id": "edge_21",
+      "from": "node_44",
+      "to": "node_55"
+    }
+  ]
+}

ground_truth/graphs/MP3D00031-graph.json

@@ -0,0 +1,106 @@
+{
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+      "name": "Entrance and living space and dining space",
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+      "name": "Hallway",
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+      "name": "Bedroom with pink sheets",
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+      "name": "Bedroom with white and blue sheets",
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+}

ground_truth/graphs/MP3D00032-graph.json

@@ -0,0 +1,221 @@
+{
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+      "name": "Bedroom with bright patterned sheets and cyan rug",
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+}

ground_truth/graphs/MP3D00034-graph.json

@@ -0,0 +1,326 @@
+{
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+  ]
+}

ground_truth/graphs/MP3D00035-graph.json

@@ -0,0 +1,196 @@
+{
+  "nodes": [
+    {
+      "id": "node_97",
+      "name": "Entrance foyer and hallway",
+      "description": "",
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+      "name": "Social space next to entrance",
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+      "position": {
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+        "z": -0.6092251898058851
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+    },
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+      "name": "Kitchen",
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+      "position": {
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+      "name": "Dining space",
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+      "position": {
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+    },
+    {
+      "id": "node_101",
+      "name": "First floor master bedroom",
+      "description": "",
+      "position": {
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+        "z": 11.83466963657618
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+    },
+    {
+      "id": "node_103",
+      "name": "Small office space of first floor master bedroom",
+      "description": "",
+      "position": {
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+        "z": 16.93320865263874
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+      "name": "Bathroom of first floor master bedroom",
+      "description": "",
+      "position": {
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+        "z": 13.889600486602045
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+    },
+    {
+      "id": "node_105",
+      "name": "Dressing room of first floor master bedroom",
+      "description": "",
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