diff --git a/train/00000-kfPV7w3FaU5/kfPV7w3FaU5.basis.navmesh b/train/00000-kfPV7w3FaU5/kfPV7w3FaU5.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..eb81e3ef95c9159cc0e040ab9aa10f17fa2426d1
Binary files /dev/null and b/train/00000-kfPV7w3FaU5/kfPV7w3FaU5.basis.navmesh differ
diff --git a/train/00002-FxCkHAfgh7A/FxCkHAfgh7A.basis.navmesh b/train/00002-FxCkHAfgh7A/FxCkHAfgh7A.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..aec374d72f58f1b653b73e4b80e972108a73c654
Binary files /dev/null and b/train/00002-FxCkHAfgh7A/FxCkHAfgh7A.basis.navmesh differ
diff --git a/train/00013-sfbj7jspYWj/sfbj7jspYWj.basis.navmesh b/train/00013-sfbj7jspYWj/sfbj7jspYWj.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..1e1b4dfa061ffb553ed66b848329b312c27161d6
Binary files /dev/null and b/train/00013-sfbj7jspYWj/sfbj7jspYWj.basis.navmesh differ
diff --git a/train/00024-XNoaAZwsWKk/XNoaAZwsWKk.basis.navmesh b/train/00024-XNoaAZwsWKk/XNoaAZwsWKk.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..bf1529e34ee941d229bfa582f280b2a0af6ac73f
Binary files /dev/null and b/train/00024-XNoaAZwsWKk/XNoaAZwsWKk.basis.navmesh differ
diff --git a/train/00029-4wCTuaUNWEd/4wCTuaUNWEd.basis.navmesh b/train/00029-4wCTuaUNWEd/4wCTuaUNWEd.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..da8a522162f67946541dc48f9eab1b423c9d4875
Binary files /dev/null and b/train/00029-4wCTuaUNWEd/4wCTuaUNWEd.basis.navmesh differ
diff --git a/train/00037-oKFJo8jpzRW/oKFJo8jpzRW.basis.navmesh b/train/00037-oKFJo8jpzRW/oKFJo8jpzRW.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..42ba3bb7aaa76b5c2e6e9c178d898ea0214c4fbd
Binary files /dev/null and b/train/00037-oKFJo8jpzRW/oKFJo8jpzRW.basis.navmesh differ
diff --git a/train/00040-ZB8o8rMmPdB/ZB8o8rMmPdB.basis.navmesh b/train/00040-ZB8o8rMmPdB/ZB8o8rMmPdB.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..c9997aff16d20d1d36bae126866b9ae3419a03ca
Binary files /dev/null and b/train/00040-ZB8o8rMmPdB/ZB8o8rMmPdB.basis.navmesh differ
diff --git a/train/00049-e3YKRHQRPNe/e3YKRHQRPNe.basis.navmesh b/train/00049-e3YKRHQRPNe/e3YKRHQRPNe.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..c2c8a7e8b88fdc617f39c63975e916da891b113e
Binary files /dev/null and b/train/00049-e3YKRHQRPNe/e3YKRHQRPNe.basis.navmesh differ
diff --git a/train/00059-kJxT5qssH4H/kJxT5qssH4H.basis.navmesh b/train/00059-kJxT5qssH4H/kJxT5qssH4H.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..9a44132a7695dcecd3fc71163549fc989b4e36e3
Binary files /dev/null and b/train/00059-kJxT5qssH4H/kJxT5qssH4H.basis.navmesh differ
diff --git a/train/00059-kJxT5qssH4H/kJxT5qssH4H.semantic.txt b/train/00059-kJxT5qssH4H/kJxT5qssH4H.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b2af019bfd94db2805876667d621169d69c108e
--- /dev/null
+++ b/train/00059-kJxT5qssH4H/kJxT5qssH4H.semantic.txt
@@ -0,0 +1,311 @@
+HM3D Semantic Annotations
+1,3DDA5C,"floor",0
+2,8111CE,"wall",0
+3,D27919,"wall",0
+4,AA6E4D,"wall",0
+5,8E18E8,"wall",0
+6,4F4D67,"wall",0
+7,A41A14,"wall",0
+8,5A3AE2,"wall",0
+9,41EEA9,"wall",0
+10,169953,"ceiling",0
+11,585FB8,"mirror",0
+12,503C29,"toilet",0
+13,A1BC5A,"toilet paper",0
+14,3DCB64,"toilet brush holder",0
+15,3D3977,"wall",0
+16,4BCF4F,"bathroom cabinet",0
+17,4D5E39,"sink",0
+18,1B27D4,"sink",0
+19,2F4AA9,"towel",0
+20,CF1991,"towel",0
+21,52A563,"towel",0
+22,57ABDC,"towel",0
+23,6A9A7B,"tap",0
+24,C64B58,"tap",0
+25,466141,"shower hose/head",0
+26,C17D75,"bathroom accessory",0
+27,2EE618,"bathroom accessory",0
+28,F6C08A,"bathroom accessory",0
+29,887FA1,"heater",0
+30,967927,"towel",0
+31,EDF7CD,"towel",0
+32,E25CBE,"towel",0
+33,36B710,"window frame",0
+34,1F6E9D,"window",0
+35,7699F1,"blinds",0
+36,03718B,"door frame",0
+37,946540,"floor",1
+38,84A235,"ceiling",1
+39,B8FEE1,"wall",1
+40,145E42,"door frame",1
+41,01DD5B,"door",1
+42,3739BA,"rack",1
+43,BE2C15,"rack",1
+44,3163BD,"wall",1
+45,0A8405,"mirror",1
+46,E9A1A5,"floor",2
+47,E5CF71,"rug",2
+48,A19994,"bed",2
+49,355D7C,"pillow",2
+50,E699EB,"pillow",2
+51,F30F7D,"pillow",2
+52,F5186E,"pillow",2
+53,AF3D61,"wall",2
+54,03D4E9,"door",2
+55,A6545E,"wall",2
+56,CC54C2,"wall",2
+57,39DF3A,"wall",2
+58,9C5922,"wall",2
+59,1FD47E,"wall",2
+60,461157,"wall",2
+61,CCA553,"wall",2
+62,DF440F,"parapet",2
+63,4E7D90,"ceiling",2
+64,8A82CA,"bathtub",2
+65,87C5EA,"flower vase",2
+66,211A76,"curtain",2
+67,7BD847,"sofa chair",2
+68,A1B268,"pillow",2
+69,388F2A,"lamp",2
+70,1C53BA,"decoration",2
+71,798A29,"table",2
+72,51DEF2,"blanket",2
+73,66863C,"cabinet",2
+74,ABCFB5,"cabinet",2
+75,88E0B8,"curtain",2
+76,C02C98,"curtain",2
+77,316EAF,"painting",2
+78,BA5946,"sofa chair",2
+79,29633A,"couch",2
+80,CB3611,"pillow",2
+81,72D81D,"pillow",2
+82,70811D,"rug",2
+83,5F1A29,"tv",2
+84,84743E,"curtain",2
+85,575E13,"curtain",2
+86,DA9E85,"curtain",2
+87,922721,"wall",2
+88,E3C25E,"window frame",2
+89,5EBCB2,"window",2
+90,9D095A,"window",2
+91,B554AE,"window",2
+92,D5BFB3,"window",2
+93,A205E3,"wall",2
+94,7FEBBB,"curtain",2
+95,A28C88,"window frame",2
+96,D077A8,"window",2
+97,658AE9,"window",2
+98,CC3157,"wall",2
+99,DD6F98,"window frame",2
+100,6DFF12,"window",2
+101,4D381D,"wall",2
+102,1BDC77,"window frame",2
+103,4D3BF1,"window",2
+104,9628A3,"window",2
+105,5BA3B3,"window",2
+106,7E4E62,"table",2
+107,4B9310,"book",2
+108,F14501,"bowl of fruit",2
+109,6A009E,"book",2
+110,384098,"appliance",2
+111,C99ED2,"appliance",2
+112,DD0E35,"appliance",2
+113,58EACD,"flowerpot",2
+114,E9AAC8,"wall",2
+115,B3A966,"cabinet",2
+116,31A1B7,"vase",2
+117,A5BA2A,"vase",2
+118,58335A,"vase",2
+119,922BCD,"vase",2
+120,9E22A8,"tray",2
+121,85FDD1,"plane",2
+122,1FAF75,"plane",2
+123,34CC78,"flower vase",2
+124,304611,"bag",2
+125,5F05F0,"sofa chair",2
+126,A3553C,"curtain",2
+127,8751EB,"window frame",2
+128,E8EA6B,"window",2
+129,89F0BF,"wall",2
+130,29DA28,"wall",2
+131,3F2B5B,"ceiling",2
+132,C90249,"wall",2
+133,0A6391,"wall",2
+134,27AADB,"wall",2
+135,223D0B,"wall",2
+136,F2B9C1,"parapet",2
+137,AF6B7C,"vase",2
+138,5A16F3,"wall",2
+139,094AC3,"wall",2
+140,84566C,"wall",2
+141,1C2709,"parapet",2
+142,8585B2,"wall",2
+143,91AFA3,"vase",2
+144,060F0A,"wall",2
+145,514122,"wall",2
+146,3F594B,"parapet",2
+147,202228,"wall",2
+148,5CB9AF,"vase",2
+149,C15053,"wall",2
+150,6EB6C5,"parapet",2
+151,A7D73E,"floor",3
+152,A5BFBC,"rug",3
+153,01F602,"wall",3
+154,55211A,"wall",3
+155,C06AC7,"wall",3
+156,A34F61,"wall",3
+157,17AD8A,"wall",3
+158,D46CAA,"wall",3
+159,A52CF1,"stairs",3
+160,CD4E31,"balustrade",3
+161,049ADF,"ceiling",3
+162,9EDD49,"ceiling",3
+163,9DEC96,"wall",3
+164,5BBB0F,"wall panel",3
+165,A92732,"mirror",3
+166,EE64A7,"wall cubby",3
+167,46AA98,"wall cubby",3
+168,2DE5E5,"door frame",3
+169,E7F2F5,"door",3
+170,33E6CC,"door frame",3
+171,086A96,"chair",3
+172,1AA4F6,"chair",3
+173,EC3D43,"chair",3
+174,C3A07D,"chair",3
+175,8C0941,"flower vase",3
+176,55D485,"table",3
+177,351F98,"curtain",3
+178,71E1CA,"curtain",3
+179,5A0F3C,"lamp",3
+180,E2083C,"decoration",3
+181,BCD828,"desk",3
+182,6A7172,"desk chair",3
+183,3752A6,"lamp",3
+184,0CD047,"appliance",3
+185,C9BFD8,"box",3
+186,C32D73,"bowl of fruit",3
+187,FD03ED,"tv",3
+188,6B271E,"wall panel",3
+189,730857,"door frame",3
+190,B21E12,"door",3
+191,58E2DC,"coffee machine",3
+192,D3DC75,"mini fridge",3
+193,1B8BD2,"bottle",3
+194,90905F,"plate",3
+195,406114,"plate",3
+196,B55A5A,"glass",3
+197,DBEDFA,"glass",3
+198,1F1BFF,"cup",3
+199,A08670,"cup",3
+200,FCD23B,"window frame",3
+201,9416C7,"window",3
+202,924521,"window",3
+203,9D7BCD,"window",3
+204,D9CD45,"window",3
+205,DD845B,"wall",3
+206,D8ABB3,"floor",4
+207,C5D35F,"ceiling",4
+208,EFE3F8,"wall",4
+209,5FE487,"wall",4
+210,5C8F6E,"wall",4
+211,85CF6C,"toilet",4
+212,769F50,"toilet paper",4
+213,FE58AA,"toilet paper dispenser",4
+214,C5D986,"toilet brush holder",4
+215,60DFDD,"toilet paper",4
+216,DBF239,"sink",4
+217,9AA6AB,"towel",4
+218,4DD0DA,"towel bar",4
+219,36B379,"pipe",4
+220,43F831,"wall",4
+221,A56F8D,"trash can",4
+222,CBDBF2,"mirror",4
+223,FC9C8A,"floor",5
+224,BEC7A4,"rug",5
+225,8106AB,"wall",5
+226,54D288,"wall",5
+227,A4ED91,"door",5
+228,8228EB,"door",5
+229,5402D1,"ceiling",5
+230,459723,"wall",5
+231,06AFB9,"desk",5
+232,338CCF,"tv",5
+233,BB268F,"desk chair",5
+234,FB7462,"bed",5
+235,93E372,"wall panel",5
+236,081AE3,"lamp",5
+237,AEA742,"curtain",5
+238,6A96F6,"curtain",5
+239,345CA7,"window frame",5
+240,47CFF0,"window",5
+241,C710C0,"window",5
+242,9DFD41,"window",5
+243,65F2A1,"window",5
+244,1696C9,"flower vase",5
+245,7BFB6B,"decoration",5
+246,833199,"table",5
+247,9B52DE,"sofa chair",5
+248,F56704,"flowerpot",5
+249,D3D44D,"flowerpot",5
+250,1C3A51,"table",5
+251,AB8076,"table",5
+252,FC816B,"pillow",5
+253,6E87D8,"pillow",5
+254,E3E500,"pillow",5
+255,8085AB,"pillow",5
+256,A7FAF7,"pillow",5
+257,0FC087,"pillow",5
+258,2DD2DD,"blanket",5
+259,F1A31A,"bag",5
+260,5A8150,"appliance",5
+261,63348C,"appliance",5
+262,BAFE30,"box",5
+263,70E559,"appliance",5
+264,16D2A8,"floor",6
+265,37B4B6,"wall",6
+266,BFEA39,"wall",6
+267,150686,"ceiling",6
+268,A6B20A,"mirror",6
+269,92AD80,"door frame",6
+270,5F7049,"door",6
+271,26E810,"door frame",6
+272,8AAE48,"cabinet",6
+273,C74EC4,"mini fridge",6
+274,3A687D,"mirror",6
+275,277ABB,"bottle",6
+276,578304,"bottle",6
+277,D4CBEB,"coffee maker",6
+278,806487,"decoration",6
+279,E1F9DB,"mini fridge",6
+280,451100,"floor",7
+281,DCE9F4,"wall",7
+282,BA5E2C,"wall",7
+283,2094B6,"wall",7
+284,6DFE2E,"wall",7
+285,CAE628,"ceiling",7
+286,40EFE0,"window frame",7
+287,7196B4,"window",7
+288,752A11,"mirror",7
+289,1C4A4F,"toilet",7
+290,CAB3D7,"toilet paper",7
+291,1B2023,"toilet brush holder",7
+292,246107,"heater",7
+293,40A74D,"towel",7
+294,C71CAA,"towel",7
+295,29DA4B,"towel",7
+296,A75FF5,"shelf",7
+297,DE1B35,"heater",7
+298,E71CA6,"wall",7
+299,B0C482,"wall",7
+300,821916,"cabinet",7
+301,803804,"sink",7
+302,1B71B5,"flower vase",7
+303,3C0C58,"towel",7
+304,AF3D90,"towel",7
+305,578915,"shower hose/head",7
+306,B2A6CF,"trash can",7
+307,C28FDB,"tap",7
+308,282502,"pouffe",2
+309,14F1A9,"pouffe",2
+310,73C1E2,"pouffe",5
diff --git a/train/00060-TgWKHxhJAng/TgWKHxhJAng.basis.navmesh b/train/00060-TgWKHxhJAng/TgWKHxhJAng.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..2baa495a5e285985d930b51332b9f3a4fb84117d
Binary files /dev/null and b/train/00060-TgWKHxhJAng/TgWKHxhJAng.basis.navmesh differ
diff --git a/train/00061-duthTPisf28/duthTPisf28.basis.navmesh b/train/00061-duthTPisf28/duthTPisf28.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..75c519557be6726cce7a22c402afb1f2191d70a9
Binary files /dev/null and b/train/00061-duthTPisf28/duthTPisf28.basis.navmesh differ
diff --git a/train/00101-n8AnEznQQpv/n8AnEznQQpv.basis.navmesh b/train/00101-n8AnEznQQpv/n8AnEznQQpv.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..399feea1ec567164c0f914562ce6751b2abd2442
Binary files /dev/null and b/train/00101-n8AnEznQQpv/n8AnEznQQpv.basis.navmesh differ
diff --git a/train/00130-MjzBosUX3WW/MjzBosUX3WW.basis.navmesh b/train/00130-MjzBosUX3WW/MjzBosUX3WW.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..f5f09d8227b5a87817842748b7010a48e232109e
Binary files /dev/null and b/train/00130-MjzBosUX3WW/MjzBosUX3WW.basis.navmesh differ
diff --git a/train/00137-2tqbn5VLQoq/2tqbn5VLQoq.basis.navmesh b/train/00137-2tqbn5VLQoq/2tqbn5VLQoq.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..17144d45decb67b0d40a5ef2242805d9878a22a7
Binary files /dev/null and b/train/00137-2tqbn5VLQoq/2tqbn5VLQoq.basis.navmesh differ
diff --git a/train/00159-DfUQLukPMPc/DfUQLukPMPc.basis.navmesh b/train/00159-DfUQLukPMPc/DfUQLukPMPc.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e8e31d496dfafad98199223c5ca23420bcd91924
Binary files /dev/null and b/train/00159-DfUQLukPMPc/DfUQLukPMPc.basis.navmesh differ
diff --git a/train/00179-MVVzj944atG/MVVzj944atG.basis.navmesh b/train/00179-MVVzj944atG/MVVzj944atG.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..ae053491591a7279f00517dec94d4fa9a18c800a
Binary files /dev/null and b/train/00179-MVVzj944atG/MVVzj944atG.basis.navmesh differ
diff --git a/train/00179-MVVzj944atG/MVVzj944atG.semantic.txt b/train/00179-MVVzj944atG/MVVzj944atG.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d1b373fc2cc1149e67edbd960c837b9b3f8092a8
--- /dev/null
+++ b/train/00179-MVVzj944atG/MVVzj944atG.semantic.txt
@@ -0,0 +1,361 @@
+HM3D Semantic Annotations
+1,1F4CDA,"wall",1
+2,84C929,"wall",1
+3,FA12C4,"wall",1
+4,CB4F9A,"wall",1
+5,84DF30,"wall",1
+6,F90686,"wall",1
+7,10E1B6,"ceiling",1
+8,CE70BA,"ceiling lamp",1
+9,531290,"door frame",1
+10,0E5D24,"door",1
+11,2BD364,"painting",1
+12,1B2B01,"radiator",1
+13,C23B86,"end table",1
+14,9E913F,"alarm clock",1
+15,5321AC,"bedside lamp",1
+16,B0D108,"bedside lamp",1
+17,6DC114,"end table",1
+18,2CAE85,"bed",1
+19,2971EA,"cabinet",1
+20,32B16D,"casket",1
+21,1F06D0,"picture",1
+22,247FAE,"tv",1
+23,A96899,"curtain",1
+24,018B06,"curtain",1
+25,4BD6FF,"wall",1
+26,200BB8,"parapet",1
+27,DED09D,"window frame",1
+28,4EFA4A,"window",1
+29,44C8DD,"window",1
+30,88CD58,"window",1
+31,1C0E40,"window",1
+32,276620,"pillow",1
+33,BA0E46,"floor",1
+34,A066B4,"wall",2
+35,9B39C6,"wall",2
+36,F84477,"wall",2
+37,B5B2BF,"wall",2
+38,232E23,"wall",2
+39,15689B,"wall",2
+40,1DF995,"ceiling",2
+41,0543A9,"attic door",2
+42,2F45BA,"ceiling lamp",2
+43,62424F,"painting",2
+44,9A6A9B,"window frame",2
+45,8EF3DE,"blinds",2
+46,800BBA,"picture",2
+47,41BDA8,"picture",2
+48,2E248C,"decoration",2
+49,3B7201,"decorative plant",2
+50,B51ABE,"door frame",2
+51,ADA384,"door",2
+52,B7A2A7,"bathroom towel",2
+53,F0A970,"stairs railing",2
+54,F86E95,"smoke detector",2
+55,9649F4,"floor",2
+56,A5A2F2,"stairs",2
+57,0FD254,"wall",3
+58,923283,"wall",3
+59,33C399,"wall",3
+60,BBE3E2,"wall",3
+61,B7DBF3,"mirror",3
+62,718477,"picture",3
+63,5A0944,"toilet",3
+64,84B094,"trashcan",3
+65,43FE19,"window frame",3
+66,18BDF6,"window",3
+67,6D5132,"window",3
+68,C9E378,"window",3
+69,639DA7,"bathroom cabinet",3
+70,459C2C,"sink",3
+71,386410,"wall toilet paper",3
+72,943B85,"soap dispenser",3
+73,9B1E6B,"radiator",3
+74,FF9298,"bath towel",3
+75,7420DB,"bath towel",3
+76,65E0F1,"bathroom cabinet",3
+77,48396B,"decorative plant",3
+78,08A4D7,"bathtub",3
+79,98CB96,"bath faucet",3
+80,D72BB2,"ceiling",3
+81,401EB6,"smoke detector",3
+82,9803A7,"floor",3
+83,E49B07,"rug",3
+84,30CB65,"door frame",4
+85,906DE2,"door",4
+86,4FF396,"wall",4
+87,1D96B6,"wall",4
+88,CCB92A,"wall",4
+89,B35651,"wall",4
+90,F7F677,"radiator",4
+91,4265D3,"ceiling",4
+92,8B818B,"ceiling lamp",4
+93,43BCA2,"clothes hamper",4
+94,91DB36,"picture",4
+95,AA2FED,"picture",4
+96,936C38,"picture",4
+97,411377,"cabinet",4
+98,624082,"clothes hanger",4
+99,E1EE69,"shelf with art",4
+100,B356F4,"baby changing station",4
+101,14F068,"cabinet",4
+102,93C9DE,"lamp",4
+103,27E38E,"decorative plant",4
+104,21DBC8,"bag",4
+105,C74E7D,"bed",4
+106,35E054,"window curtain",4
+107,262D9E,"window curtain",4
+108,6AC1F1,"window frame",4
+109,8EF5D2,"window",4
+110,EBE55A,"hanging clothes",4
+111,FD40D1,"hanging clothes",4
+112,F85E66,"hanging clothes",4
+113,DDECF7,"floor",4
+114,9A54EE,"door frame",5
+115,8E0D55,"wall",5
+116,F32478,"wall",5
+117,AA1D0A,"wall",5
+118,50C61D,"wall",5
+119,995629,"wall",5
+120,59B86E,"wall",5
+121,B1303C,"closet",5
+122,14C3BB,"stool",5
+123,8BED82,"basket",5
+124,EA02EC,"toy",5
+125,BE1A8E,"bean bag chair",5
+126,DC2E3E,"wardrobe",5
+127,33E9D0,"basket",5
+128,862888,"luggage",5
+129,8C999D,"radiator",5
+130,CAE063,"ceiling",5
+131,7482B3,"ceiling lamp",5
+132,2DC253,"window frame",5
+133,3A9081,"window",5
+134,77033D,"window",5
+135,D7BFD4,"window",5
+136,B9528C,"ladder",5
+137,501E96,"door",5
+138,73C227,"wall",5
+139,33E2AB,"bed",5
+140,C02CB2,"cabinet",5
+141,C2FBCA,"stool",5
+142,D69496,"box",5
+143,DC921A,"desk",5
+144,A4AED6,"globe",5
+145,13F6EF,"picture",5
+146,D89371,"desk lamp",5
+147,299077,"floor",5
+148,38CDAF,"wall",6
+149,DA050F,"wall",6
+150,89B547,"wall",6
+151,3A7698,"wall",6
+152,4FB2B8,"wall",6
+153,1B8A49,"wall",6
+154,A08DFA,"wall",6
+155,835CCA,"wall",6
+156,378DB1,"radiator",6
+157,0DA7D0,"door frame",6
+158,3E62F9,"door frame",6
+159,6C28CD,"door frame",6
+160,5CCAFD,"door frame",6
+161,B82CE8,"door",6
+162,5800FF,"door",6
+163,4E8881,"door",6
+164,C44DE9,"door",6
+165,D79477,"door window",6
+166,B00EB2,"support beam",6
+167,EDE554,"ceiling",6
+168,BA1F2D,"ceiling lamp",6
+169,2A9C54,"table",6
+170,A7B7EA,"decorative plant",6
+171,026E00,"picture",6
+172,EDAE22,"floor",6
+173,B50DF8,"wall",7
+174,8D6178,"wall",7
+175,5995D3,"wall",7
+176,566EF8,"wall",7
+177,EF4C02,"wall",7
+178,4F6221,"wall",7
+179,7CAA9C,"wall",7
+180,6CFC79,"wall",7
+181,571F36,"wall",7
+182,1F4126,"wall",7
+183,ECED43,"wall",7
+184,209DC0,"wall",7
+185,18FDDA,"wall",7
+186,679753,"ceiling",7
+187,AC9489,"window frame",7
+188,1DCE4B,"window frame",7
+189,EE7A20,"window frame",7
+190,C2802F,"window frame",7
+191,5B11D2,"window",7
+192,645EB9,"window",7
+193,4F6948,"window",7
+194,FFBA73,"window",7
+195,DF0A7D,"parapet",7
+196,03834A,"parapet",7
+197,6D1CA0,"parapet",7
+198,81A872,"door frame",7
+199,897D9A,"door",7
+200,673637,"shoe",7
+201,2BFBB6,"shoe",7
+202,63B3D4,"shoe",7
+203,10295A,"shoe",7
+204,E9420A,"storage cabinet",7
+205,5217BD,"floor",7
+206,EF26DE,"door frame",8
+207,02EB43,"door",8
+208,3D47F9,"wall",8
+209,334FD7,"wall",8
+210,0857A3,"wall",8
+211,67F011,"wall",8
+212,DD62B9,"wall",8
+213,EA99B5,"wall",8
+214,8476E9,"wall",8
+215,B9C389,"wall",8
+216,9DBCF3,"wall",8
+217,194743,"wall",8
+218,DB7B1A,"wall",8
+219,6D4AB6,"wall",8
+220,234961,"wall",8
+221,6867FE,"wall",8
+222,2CA635,"wall",8
+223,C0F7F6,"wall",8
+224,8D888F,"wall",8
+225,D8D290,"window curtain",8
+226,32C5AD,"window curtain",8
+227,A21C9F,"radiator",8
+228,38CD39,"picture",8
+229,6DBD53,"armchair",8
+230,4F8317,"floor lamp",8
+231,7BDC3D,"shelf",8
+232,297B86,"decorative plant",8
+233,6C86CA,"ceiling",8
+234,617CA1,"cabinet",8
+235,5B57AD,"cabinet",8
+236,3CF421,"tv",8
+237,FF19F0,"coffee table",8
+238,7437D1,"decorative plant",8
+239,9B8BF9,"decorative plant",8
+240,F4F325,"l-shaped sofa",8
+241,AD9DA6,"appliance",8
+242,A78F5F,"pillow",8
+243,793DBF,"pillow",8
+244,D35DDC,"pillow",8
+245,8394A6,"pillow",8
+246,CB0C0D,"window frame",8
+247,D1BCBB,"window",8
+248,1854B8,"window",8
+249,CC849E,"window",8
+250,F5D3F4,"window",8
+251,7FA401,"parapet",8
+252,B35CD0,"parapet",8
+253,2E7579,"floor",8
+254,0C1168,"wall",9
+255,C22EC9,"wall",9
+256,FAB30A,"wall",9
+257,950C29,"wall",9
+258,2F4B4D,"wall",9
+259,3D22F4,"wall",9
+260,153D64,"wall",9
+261,4A219F,"wall",9
+262,234EFA,"wall",9
+263,42A46A,"wall",9
+264,847328,"wall",9
+265,F2F267,"wall",9
+266,55FFBA,"wall",9
+267,C342CA,"wall",9
+268,4042D0,"wall",9
+269,CF7C63,"wall",9
+270,7CEDBB,"support beam",9
+271,7E9C48,"support beam",9
+272,3DAB48,"ceiling",9
+273,D687FB,"ceiling",9
+274,D78CBE,"ceiling",9
+275,C8F138,"painting",9
+276,6DBCAC,"picture",9
+277,AB286B,"picture",9
+278,DC8111,"picture",9
+279,9B0DD6,"picture",9
+280,C476BB,"picture",9
+281,1089C1,"picture",9
+282,C9EC54,"picture",9
+283,4C3770,"picture",9
+284,4CB7A4,"picture",9
+285,03E3BB,"bookshelf",9
+286,71371C,"decorative plant",9
+287,CC1B3B,"globe",9
+288,9BBCF5,"decorative plate",9
+289,9ABB1E,"decorative plant",9
+290,9D8CB9,"picture",9
+291,600F3C,"picture",9
+292,EC1EAB,"calendar",9
+293,A0D6CE,"l-shaped sofa",9
+294,2832BD,"side table",9
+295,337692,"radiator",9
+296,C0AFF8,"decorative plant",9
+297,BBE7B0,"floor lamp",9
+298,B51381,"tv stand",9
+299,767A57,"tv",9
+300,E2F082,"speaker",9
+301,F5E536,"box",9
+302,AC9836,"pillow",9
+303,980FCF,"pillow",9
+304,1D5C60,"radiator",9
+305,22A6E9,"box",9
+306,52618F,"cabinet",9
+307,5EEF2B,"decorative plant",9
+308,4FDDD2,"decorative plant",9
+309,41E274,"picture",9
+310,36EEAA,"dining chair",9
+311,07CFFE,"dining chair",9
+312,70F8B1,"dining chair",9
+313,F85DC3,"dining chair",9
+314,72A525,"highchair",9
+315,A4399B,"flower vase",9
+316,A4E60E,"dining table",9
+317,7456B8,"cabinet",9
+318,5FFF22,"decorative plant",9
+319,00035A,"sliding glass door",9
+320,4F0CD4,"sliding glass door",9
+321,C18F29,"door frame",9
+322,5A868E,"watch",9
+323,E398AA,"window frame",9
+324,94DA17,"window",9
+325,A7B80A,"window",9
+326,2C9C5B,"parapet",9
+327,253A7B,"range hood",9
+328,E097A9,"kitchen shelf",9
+329,3D6328,"kitchen shelf",9
+330,0829E5,"countertop",9
+331,E77CEB,"paper towel",9
+332,4F829C,"toaster",9
+333,4F9E54,"kettle",9
+334,A2D3F3,"cutting board",9
+335,E06C82,"sink",9
+336,DDDBB8,"kitchen appliance",9
+337,85EFFE,"kitchen appliance",9
+338,F76C78,"spice rack",9
+339,3977EA,"spice rack",9
+340,23939E,"kitchen cabinet",9
+341,D9B61C,"kitchen cabinet",9
+342,B096B2,"kitchen cabinet",9
+343,7D92C6,"kitchen cabinet",9
+344,74DA18,"kitchen cabinet",9
+345,1BAF67,"kitchen cabinet",9
+346,F494DD,"kitchen cabinet",9
+347,D703C4,"kitchen cabinet",9
+348,01193E,"kitchen cabinet",9
+349,0BCE73,"kitchen cabinet",9
+350,5514B0,"kitchen cabinet",9
+351,F822B1,"kitchen cabinet",9
+352,DAB493,"kitchen cabinet",9
+353,618897,"kitchen cabinet",9
+354,40B30E,"kitchen cabinet",9
+355,AD1504,"kitchen cabinet",9
+356,88EEB6,"kitchen cabinet",9
+357,700B37,"kitchen cabinet",9
+358,63BD65,"kitchen cabinet",9
+359,601F8C,"kitchen cabinet",9
+360,C708A9,"carpet",9
diff --git a/train/00187-GCCrNuhZ9WY/GCCrNuhZ9WY.basis.navmesh b/train/00187-GCCrNuhZ9WY/GCCrNuhZ9WY.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e0cbe3ad15fc450de6696571affe410f13a23e5a
Binary files /dev/null and b/train/00187-GCCrNuhZ9WY/GCCrNuhZ9WY.basis.navmesh differ
diff --git a/train/00191-dKySjDYsya1/dKySjDYsya1.basis.navmesh b/train/00191-dKySjDYsya1/dKySjDYsya1.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..557840786286755d897e1be6741f87490b891b88
Binary files /dev/null and b/train/00191-dKySjDYsya1/dKySjDYsya1.basis.navmesh differ
diff --git a/train/00212-bAdy4hKf1a1/bAdy4hKf1a1.basis.navmesh b/train/00212-bAdy4hKf1a1/bAdy4hKf1a1.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..68a5870045cf64d9da6a3a4498cf6ada80a55f37
Binary files /dev/null and b/train/00212-bAdy4hKf1a1/bAdy4hKf1a1.basis.navmesh differ
diff --git a/train/00213-mkvHBa3mEEk/mkvHBa3mEEk.basis.navmesh b/train/00213-mkvHBa3mEEk/mkvHBa3mEEk.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..9aa50b7d5c7616b236ca48dc1e771e6b960a14d9
Binary files /dev/null and b/train/00213-mkvHBa3mEEk/mkvHBa3mEEk.basis.navmesh differ
diff --git a/train/00220-KAzjXJvZtR3/KAzjXJvZtR3.basis.navmesh b/train/00220-KAzjXJvZtR3/KAzjXJvZtR3.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e4e258db779e928690bbd2e34ab1e28d5d464690
Binary files /dev/null and b/train/00220-KAzjXJvZtR3/KAzjXJvZtR3.basis.navmesh differ
diff --git a/train/00236-FcUgaJv6JHA/FcUgaJv6JHA.basis.navmesh b/train/00236-FcUgaJv6JHA/FcUgaJv6JHA.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..9f4aa1e8f86c2f89cc60a681d19663cfd9c4ac13
Binary files /dev/null and b/train/00236-FcUgaJv6JHA/FcUgaJv6JHA.basis.navmesh differ
diff --git a/train/00245-741Fdj7NLF9/741Fdj7NLF9.basis.navmesh b/train/00245-741Fdj7NLF9/741Fdj7NLF9.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..fe2f229450acadf59469e065419dcc27b4ebfc60
Binary files /dev/null and b/train/00245-741Fdj7NLF9/741Fdj7NLF9.basis.navmesh differ
diff --git a/train/00245-741Fdj7NLF9/741Fdj7NLF9.semantic.txt b/train/00245-741Fdj7NLF9/741Fdj7NLF9.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a75a9ec36f6d963568c0394f5e4f86eea342674e
--- /dev/null
+++ b/train/00245-741Fdj7NLF9/741Fdj7NLF9.semantic.txt
@@ -0,0 +1,234 @@
+HM3D Semantic Annotations
+1,FF096C,"wall",0
+2,9EBABA,"wall",0
+3,2D55B0,"ceiling",0
+4,157848,"window",0
+5,34B11F,"chair",0
+6,7B9D07,"chair",0
+7,778C3C,"lamp",0
+8,8F3BD9,"wall",0
+9,C9A118,"ceiling fan",0
+10,AA4447,"unknown",0
+11,3A5A43,"barrel",0
+12,9FA3D6,"rack",0
+13,30E064,"floor",0
+14,353E11,"wall",1
+15,CD40C9,"wall",1
+16,652D5B,"wall",1
+17,F2A0BA,"wall",1
+18,13C9BB,"wall",1
+19,A88C88,"wall",1
+20,F30BE0,"decoration",1
+21,E7A1D0,"cabinet",1
+22,0C197B,"door",1
+23,E9FD3F,"door frame",1
+24,B3AB72,"couch",1
+25,CDDADD,"table",1
+26,F2DEB2,"picture",1
+27,655E78,"picture",1
+28,E40C8B,"cabinet",1
+29,11B9A1,"drawer",1
+30,FA692A,"drawer",1
+31,0E3AA8,"drawer",1
+32,1ECA71,"cabinet",1
+33,6CAB18,"cabinet",1
+34,551BB8,"cabinet",1
+35,B9E76D,"drawer",1
+36,78D2B9,"drawer",1
+37,F3D990,"cabinet",1
+38,DD4879,"cabinet",1
+39,24CC27,"cabinet",1
+40,074D53,"cabinet",1
+41,C82F31,"cabinet",1
+42,CAB6D2,"refrigerator",1
+43,513D82,"unknown",1
+44,77A0FF,"cabinet",1
+45,93BCAC,"drawer",1
+46,BDD7D4,"dishwasher",1
+47,83360F,"kitchen counter",1
+48,AE910F,"microwave",1
+49,6E019F,"picture",1
+50,E18237,"sink",1
+51,33FFDC,"faucet",1
+52,D0BFA6,"towel",1
+53,960070,"bottle",1
+54,8523E1,"stove",1
+55,521AAA,"box",1
+56,630E3F,"coffee machine",1
+57,6EB727,"paper towel",1
+58,A1486E,"unknown",1
+59,0204A4,"blinds",1
+60,43B98F,"kitchen countertop item",1
+61,1E5AD8,"kitchen countertop items",1
+62,DAC1AD,"pillow",1
+63,FDE780,"pillow",1
+64,6BE436,"pillow",1
+65,741B4D,"pillow",1
+66,3F57A2,"pillow",1
+67,6603FE,"tv",1
+68,EFE2AB,"door frame",1
+69,648E82,"door frame",1
+70,0DB07A,"door",1
+71,037006,"door frame",1
+72,5ADFA4,"door",1
+73,08617E,"basket",1
+74,C1C7AE,"armchair",1
+75,52644B,"pillow",1
+76,F26C8A,"pillow",1
+77,3A88F2,"table",1
+78,770F98,"magazine",1
+79,BE85F4,"unknown",1
+80,48806D,"window",1
+81,A46557,"blinds",1
+82,0E4E7F,"curtain",1
+83,2E4DCE,"curtain",1
+84,2CEF77,"curtain rod",1
+85,037B91,"stool",1
+86,409154,"dresser",1
+87,CA25E5,"unknown",1
+88,68EA3B,"unknown",1
+89,FE8679,"unknown",1
+90,B9445A,"window",1
+91,87A014,"blinds",1
+92,36563A,"dresser",1
+93,2C197A,"vase",1
+94,F24B85,"mirror",1
+95,485491,"vase",1
+96,6180F8,"plant",1
+97,FC47A3,"kitchen island",1
+98,FD6754,"drawer",1
+99,EE38C9,"drawer",1
+100,6C4C07,"cabinet",1
+101,903A93,"cabinet",1
+102,BF8A5E,"stool",1
+103,5BC4DE,"stool",1
+104,F13568,"stool",1
+105,F220F8,"stool",1
+106,087887,"paper",1
+107,01A401,"tray",1
+108,1B1D6E,"plant",1
+109,A075DD,"decoration",1
+110,BEAD35,"ceiling",1
+111,E480CE,"ceiling lamp",1
+112,1DA9A1,"floor",1
+113,7E9438,"rug",1
+114,9C8EE4,"rug",1
+115,6BC913,"wall",2
+116,F1BE49,"wall",2
+117,B8BF26,"wall",2
+118,2D4AF9,"wall",2
+119,52E49E,"picture",2
+120,64C113,"blinds",2
+121,63CBAB,"picture",2
+122,DBF4C1,"toilet",2
+123,63E0F1,"trashcan",2
+124,98E861,"wall",2
+125,0B3605,"wall",2
+126,F7CB99,"wall",2
+127,E83D84,"wall",2
+128,746AA3,"wall",2
+129,0F0434,"wall",2
+130,AAC376,"lamp",2
+131,A2C771,"mirror",2
+132,63DFA4,"bathroom cabinet",2
+133,D5A6E4,"bathroom cabinet",2
+134,F43F60,"bathroom counter",2
+135,2F0B44,"sink",2
+136,D4273D,"knob",2
+137,B17F4F,"knob",2
+138,E10DF9,"faucet",2
+139,A64B18,"towel",2
+140,BC9965,"towel",2
+141,C20D29,"bottle",2
+142,D90DE1,"towel ring",2
+143,38B16A,"towel ring",2
+144,B47DD9,"showerhead",2
+145,D5252F,"shower knob",2
+146,D7FDDA,"toilet paper",2
+147,4BDF08,"bathroom accessory",2
+148,7F318B,"door frame",2
+149,4DB298,"door frame",2
+150,A67B01,"door",2
+151,F1FB14,"ceiling",2
+152,786017,"floor",2
+153,21FD5C,"rug",2
+154,BBF1C5,"bathroom shelf",2
+155,6AEB44,"unknown",2
+156,9EE246,"unknown",2
+157,1D94D0,"unknown",2
+158,1EC285,"parapet",2
+159,ABE88F,"window",2
+160,381E82,"wall",3
+161,E07183,"wall",3
+162,E5175F,"wall",3
+163,7010B7,"wall",3
+164,76AE68,"rack",3
+165,3D24F8,"blanket",3
+166,CFE892,"unknown",3
+167,350694,"blanket",3
+168,7DE97F,"unknown",3
+169,5B6504,"shelf",3
+170,DB0303,"shelf",3
+171,2CD169,"shelf",3
+172,83BF0E,"shelf",3
+173,9F0D61,"shelf",3
+174,8FD58B,"shelf",3
+175,FB91A3,"shelf",3
+176,EA6E3E,"unknown",3
+177,94F8B3,"ironing board",3
+178,68B18F,"door",3
+179,61BBB1,"door",3
+180,1E2238,"ceiling",3
+181,3BB2F0,"floor",3
+182,6D4C5F,"wall",4
+183,750FB4,"wall",4
+184,E2E65B,"wall",4
+185,8C4DE2,"wall",4
+186,F51CC5,"ceiling",4
+187,BA877A,"ceiling lamp",4
+188,C05F17,"picture",4
+189,F130D8,"decoration",4
+190,33A3B7,"hanger",4
+191,F557F3,"picture",4
+192,90F165,"mirror",4
+193,F28282,"mirror",4
+194,900EE4,"mirror",4
+195,09D390,"mirror",4
+196,7C8244,"bed",4
+197,083381,"pillow",4
+198,D8F960,"pillow",4
+199,9FF95C,"pillow",4
+200,0B6902,"pillow",4
+201,0F2F28,"pillow",4
+202,A8EBC3,"pillow",4
+203,0D890F,"pillow",4
+204,F13574,"chest of drawers",4
+205,E1E932,"bedside lamp",4
+206,74EEE3,"unknown",4
+207,ACA84A,"chest of drawers",4
+208,3A4E0E,"bedside lamp",4
+209,F2F3B2,"unknown",4
+210,0AA5F0,"tv",4
+211,77EADE,"chest of drawers",4
+212,5F1D9A,"window",4
+213,3F4995,"curtain",4
+214,57CE71,"curtain",4
+215,E2530B,"floor",4
+216,91512A,"door",4
+217,F3FB13,"door",4
+218,130790,"wall",5
+219,1CED77,"wall",5
+220,CD2A3F,"wall",5
+221,9D50CB,"wall",5
+222,EBEFF3,"wall",5
+223,D77C91,"chair",5
+224,6A6725,"chair",5
+225,713A50,"table",5
+226,2E0751,"wall",5
+227,B2A11D,"plant",5
+228,9D6F70,"ceiling",5
+229,E1359B,"floor",5
+230,502865,"rug",5
+231,D58679,"door frame",5
+232,33569A,"lamp",5
+233,6B0EC8,"rug",4
diff --git a/train/00287-SBHLgvFTVMZ/SBHLgvFTVMZ.basis.navmesh b/train/00287-SBHLgvFTVMZ/SBHLgvFTVMZ.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..8e117368a004afa72a4402575f0b7582a443aa0b
Binary files /dev/null and b/train/00287-SBHLgvFTVMZ/SBHLgvFTVMZ.basis.navmesh differ
diff --git a/train/00288-27cQLjQ5CjV/27cQLjQ5CjV.basis.navmesh b/train/00288-27cQLjQ5CjV/27cQLjQ5CjV.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..4ba50618fe5b97632b97cbacf9cbaf33e7cac62b
Binary files /dev/null and b/train/00288-27cQLjQ5CjV/27cQLjQ5CjV.basis.navmesh differ
diff --git a/train/00304-X6Pct1msZv5/X6Pct1msZv5.basis.navmesh b/train/00304-X6Pct1msZv5/X6Pct1msZv5.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..8930807383edb56939764c20ae4036b1ce75703e
Binary files /dev/null and b/train/00304-X6Pct1msZv5/X6Pct1msZv5.basis.navmesh differ
diff --git a/train/00304-X6Pct1msZv5/X6Pct1msZv5.semantic.txt b/train/00304-X6Pct1msZv5/X6Pct1msZv5.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e10dfa1e5ae14003038d3d9d1126d43e68e95fcc
--- /dev/null
+++ b/train/00304-X6Pct1msZv5/X6Pct1msZv5.semantic.txt
@@ -0,0 +1,603 @@
+HM3D Semantic Annotations
+1,A9EA4F,"ceiling",0
+2,7B600C,"floor",0
+3,F12C02,"wall",0
+4,2F5324,"wall",0
+5,83AA67,"mirror",0
+6,ECA2DE,"air conditioner",0
+7,4511AB,"small table/stand",0
+8,446C8C,"lamp",0
+9,4E6C4E,"dresser",0
+10,F31F47,"tv",0
+11,0FA377,"speaker",0
+12,5247B3,"speaker",0
+13,C1C932,"bag",0
+14,CABD76,"record player",0
+15,691E0D,"unknown",0
+16,E4F8DB,"unknown",0
+17,09845A,"unknown",0
+18,D73D0A,"unknown",0
+19,567286,"electrical controller",0
+20,3FF1E8,"electrical controller",0
+21,3353BC,"electrical controller",0
+22,A4402E,"furnace",0
+23,1B407E,"cabinet",0
+24,88A4FB,"unknown",0
+25,2A0565,"vase",0
+26,701D2D,"unknown",0
+27,E9154A,"mirror",0
+28,E6E1D9,"door frame",0
+29,5BEBD5,"door",0
+30,617E8E,"picture",0
+31,65E4D8,"window",0
+32,2D2D2C,"window",0
+33,EC107E,"window",0
+34,DB0880,"picture",0
+35,722FC0,"pouffe",0
+36,560365,"armchair",0
+37,16C65E,"cabinet",0
+38,421C42,"lamp",0
+39,2CDC4A,"unknown",0
+40,EB6DD7,"couch",0
+41,617222,"pillow",0
+42,AEA3B4,"pillow",0
+43,B9F866,"pillow",0
+44,6561A3,"pillow",0
+45,541075,"pillow",0
+46,6C9391,"pillow",0
+47,03F8B2,"pillow",0
+48,91BB9F,"table",0
+49,6779E7,"couch",0
+50,C99232,"pillow",0
+51,F0A230,"pillow",0
+52,722D1A,"pillow",0
+53,B7F2C3,"pillow",0
+54,EDBB25,"lamp",0
+55,AA189C,"ceiling fan",0
+56,6A5827,"lamp",0
+57,7D1E07,"table",0
+58,3493C3,"rug",0
+59,3F4627,"ceiling",1
+60,9E0460,"floor",1
+61,72EF4E,"rug",1
+62,BB97BC,"wall",1
+63,AD0B52,"wall",1
+64,3A7B29,"dresser",1
+65,ADCD73,"picture",1
+66,9252AF,"picture",1
+67,A26B19,"picture",1
+68,A39C92,"kitchen cabinet",1
+69,FFBFF1,"chair",1
+70,577049,"wall",1
+71,9DD931,"lamp",1
+72,7F46FE,"picture",1
+73,3F2FAD,"bowl",1
+74,C34C66,"chair",1
+75,FAE26E,"unknown",1
+76,470839,"unknown",1
+77,0285E6,"unknown",1
+78,3C77F7,"unknown",1
+79,8DA115,"unknown",1
+80,8DBCFF,"kitchen cabinet",2
+81,A1FB0E,"kitchen cabinet",2
+82,BEFD30,"kitchen cabinet",2
+83,E615B0,"kitchen cabinet",2
+84,AFFF59,"kitchen cabinet",2
+85,6691CA,"kitchen cabinet",2
+86,80CA7D,"kitchen cabinet",2
+87,DF74BC,"floor",2
+88,439253,"ceiling",2
+89,BEC26E,"kitchen cabinet",2
+90,E8328B,"kitchen cabinet",2
+91,912D34,"kitchen cabinet",2
+92,67D314,"kitchen cabinet",2
+93,598EF7,"kitchen cabinet",2
+94,52ED0D,"kitchen cabinet",2
+95,F558A0,"kitchen cabinet",2
+96,A35A22,"table",2
+97,7AE82B,"wall",2
+98,37134F,"wall",2
+99,8E37C5,"coffee machine",2
+100,717673,"unknown",2
+101,33CA08,"box",2
+102,073A2C,"unknown",2
+103,0DD7ED,"unknown",2
+104,9A1374,"stove",2
+105,3C3E0E,"unknown",2
+106,A68505,"unknown",2
+107,3EAD69,"container",2
+108,470E1B,"toaster",2
+109,BA5766,"box",2
+110,3F0881,"cutting board",2
+111,FDB4AA,"kettle",2
+112,5824C6,"unknown",2
+113,179BE4,"flower vase",2
+114,C75AAA,"sink",2
+115,754B4B,"oven",2
+116,1E05C8,"oven",2
+117,980639,"coffee machine",1
+118,83B496,"toy",1
+119,6DBBA0,"unknown",1
+120,039719,"lamp",2
+121,1D3E21,"lamp",1
+122,DC754A,"lamp",1
+123,F45D79,"lamp",1
+124,B26666,"wall",2
+125,838002,"ceiling",3
+126,EA085B,"floor",3
+127,6A5F5C,"wall",3
+128,A41FE0,"wall",3
+129,34A24F,"wall",3
+130,37B530,"wall",3
+131,1C260E,"wall",3
+132,3266A4,"wardrobe",3
+133,B6B407,"window",3
+134,486953,"window",3
+135,6B330F,"window",3
+136,A080D4,"wall",3
+137,3A42A5,"ceiling",3
+138,CA2D6C,"picture",3
+139,242D94,"picture",3
+140,47A036,"flowerpot",3
+141,8F788E,"picture",3
+142,551F3D,"picture",3
+143,8E7AF2,"desk",3
+144,9A8C56,"printer",3
+145,805C26,"ironing board",3
+146,E4F0B7,"chair",3
+147,AAD8F9,"unknown",3
+148,289408,"unknown",3
+149,A9E445,"unknown",3
+150,492F37,"bin",3
+151,836DDD,"rack",3
+152,8856A3,"book",3
+153,826784,"book",3
+154,A8978F,"book",3
+155,EF736D,"book",3
+156,C268A3,"book",3
+157,2839C3,"book",3
+158,668631,"book",3
+159,4DB0DF,"book",3
+160,480EC4,"book",3
+161,029E75,"book",3
+162,D912DA,"book",3
+163,E2B58C,"book",3
+164,62BAEC,"book",3
+165,9D3B2B,"book",3
+166,994535,"book",3
+167,ACCFC4,"book",3
+168,6FEB41,"book",3
+169,16CCF6,"book",3
+170,319B09,"book",3
+171,846DDC,"book",3
+172,A45A65,"book",3
+173,5F8191,"book",3
+174,BC31DD,"book",3
+175,00FB24,"book",3
+176,4268B1,"book",3
+177,1B92F9,"book",3
+178,9C7E73,"book",3
+179,6970BD,"book",3
+180,6A84B8,"book",3
+181,1254E2,"book",3
+182,805683,"book",3
+183,5C91F7,"book",3
+184,3A0F50,"book",3
+185,0A40D7,"book",3
+186,966FE3,"book",3
+187,A4495C,"book",3
+188,3C1A8D,"book",3
+189,7971F8,"book",3
+190,DB9BA8,"book",3
+191,110F8E,"book",3
+192,9CE0E4,"book",3
+193,C8A853,"book",3
+194,96C01D,"book",3
+195,9C67A5,"book",3
+196,5D9A41,"book",3
+197,C9A24D,"book",3
+198,F4B9F8,"book",3
+199,270909,"book",3
+200,A7A16E,"book",3
+201,D15878,"book",3
+202,DB1EE5,"book",3
+203,046EE8,"book",3
+204,9A2BE1,"book",3
+205,659CE0,"book",3
+206,A04C76,"book",3
+207,6B7E3E,"book",3
+208,80E309,"book",3
+209,B7B909,"book",3
+210,5D5FCC,"book",3
+211,F17177,"book",3
+212,1E8CB0,"book",3
+213,6CB545,"book",3
+214,0138A4,"book",3
+215,AB1D8B,"book",3
+216,1B0082,"book",3
+217,8E5EFF,"coffee mug",3
+218,FF5A09,"coffee mug",3
+219,74BB92,"vase",3
+220,416862,"vase",3
+221,84AEDE,"flowerpot",3
+222,2912FF,"wall",3
+223,1587CC,"wall",3
+224,9ED6CB,"ceiling",3
+225,586FB9,"ceiling",3
+226,D4CD5A,"wall",3
+227,F1B5D9,"wall",3
+228,56CA2D,"lamp",3
+229,B8F5DD,"lamp",3
+230,3BBBF9,"unknown",3
+231,73EAB1,"flowerpot",3
+232,986242,"rack",3
+233,CE92D1,"book",3
+234,754E10,"book",3
+235,ABC762,"book",3
+236,B342C6,"book",3
+237,AE8C46,"book",3
+238,6EA552,"book",3
+239,6B2229,"book",3
+240,46C030,"book",3
+241,FED19A,"book",3
+242,5848A9,"book",3
+243,04E415,"book",3
+244,5D743D,"book",3
+245,AB8C86,"book",3
+246,3E0A03,"book",3
+247,4D3D64,"book",3
+248,710D4A,"book",3
+249,683701,"book",3
+250,4023AE,"book",3
+251,FB3F22,"book",3
+252,CFED52,"book",3
+253,277F99,"book",3
+254,795DE4,"book",3
+255,8146E6,"book",3
+256,871825,"book",3
+257,BE4DC1,"book",3
+258,CFBFDB,"book",3
+259,FB6ED8,"book",3
+260,EE83D6,"book",3
+261,4967DF,"book",3
+262,3492D4,"book",3
+263,8CD36B,"book",3
+264,4B2FAA,"book",3
+265,2378F9,"book",3
+266,C289A7,"book",3
+267,F92346,"book",3
+268,B28BE4,"book",3
+269,356BEE,"book",3
+270,CE0B82,"book",3
+271,763C9E,"book",3
+272,B91A9C,"book",3
+273,0884F3,"book",3
+274,03B205,"book",3
+275,187AD3,"book",3
+276,73A4A2,"book",3
+277,DE0CB2,"book",3
+278,DCED9A,"book",3
+279,FB9777,"book",3
+280,945FC3,"book",3
+281,EBAE70,"book",3
+282,3E32DD,"book",3
+283,407B14,"book",3
+284,313E9C,"book",3
+285,8CE885,"book",3
+286,F7BB67,"book",3
+287,7A61A4,"book",3
+288,062080,"book",3
+289,6D75EA,"book",3
+290,803A4F,"book",3
+291,7DDFE5,"book",3
+292,E1885A,"book",3
+293,EEEE3C,"book",3
+294,D1F565,"book",3
+295,D93033,"book",3
+296,D4FF87,"book",3
+297,BB4484,"vase",3
+298,DC7820,"globe",3
+299,815DEC,"parapet",3
+300,4423D2,"binder",3
+301,6C8A51,"binder",3
+302,B3A7C0,"binder",3
+303,93E00D,"binder",3
+304,FA6649,"box",3
+305,3083C2,"newspaper",3
+306,0072C9,"unknown",3
+307,1866A6,"cabinet",3
+308,FF096A,"box",3
+309,4A69A1,"box",3
+310,3534E9,"bag",3
+311,1D6172,"table",3
+312,A11CA0,"chair",3
+313,8D9847,"chair",3
+314,C7C666,"chair",3
+315,372AED,"chair",3
+316,B1F2C7,"unknown",3
+317,193F17,"ceiling",4
+318,55A04A,"floor",4
+319,31DAB2,"wall",4
+320,A13442,"wall",4
+321,C36657,"wall",4
+322,6CFE8F,"wall",4
+323,E0F35B,"wardrobe",4
+324,DB68F6,"picture",4
+325,48C2A7,"picture",4
+326,839DAA,"picture",4
+327,8295D8,"picture",4
+328,411C9C,"window",4
+329,26C248,"air conditioner",4
+330,A33744,"door frame",4
+331,8288FC,"door",4
+332,6170B2,"mirror",4
+333,C9F343,"cabinet",4
+334,5A7CDB,"tv",4
+335,6AC5E6,"stand",4
+336,34D673,"unknown",4
+337,D3A44A,"bin",4
+338,12C051,"chair",4
+339,DF94BC,"desk",4
+340,6DA557,"mirror",4
+341,F05FFC,"box",4
+342,85B70D,"box",4
+343,7CC437,"unknown",4
+344,03ACC3,"unknown",4
+345,22B04D,"unknown",4
+346,82C58B,"unknown",4
+347,0806CB,"bed",4
+348,F55953,"pillow",4
+349,A1647A,"pillow",4
+350,A16588,"pillow",4
+351,E06707,"pillow",4
+352,B4CE59,"pillow",4
+353,631096,"pillow",4
+354,1C2143,"plush toy",4
+355,7134C0,"lamp",4
+356,5C0BED,"table",4
+357,8EEBA1,"unknown",4
+358,3DACF8,"unknown",4
+359,5173DF,"unknown",4
+360,D8544B,"unknown",4
+361,3D27F1,"speaker",4
+362,0474D4,"unknown",4
+363,BB363F,"lamp",4
+364,3B61BF,"cabinet",4
+365,D65AA3,"speaker",4
+366,46F41C,"speaker",4
+367,69F8E2,"table",4
+368,8A9709,"electrical controller",4
+369,F08E3E,"electrical controller",4
+370,3EC793,"lamp",4
+371,43D16C,"lamp",4
+372,94E389,"rug",4
+373,5E0B9B,"rug",4
+374,7EA7A2,"ceiling",5
+375,C4B726,"floor",5
+376,161AA0,"wall",5
+377,032952,"wall",5
+378,4BF695,"wall",5
+379,CBB5AB,"wall",5
+380,E07207,"mirror",5
+381,ABBF7C,"radiator",5
+382,7D69BA,"towel",5
+383,F74FCF,"cabinet",5
+384,6DDF6B,"box",5
+385,508A3D,"box",5
+386,4B7DDE,"box",5
+387,D4A552,"box",5
+388,E67B8E,"sink",5
+389,A52FAF,"tap",5
+390,2970C4,"unknown",5
+391,D8D4FB,"unknown",5
+392,427825,"toilet",5
+393,509DA9,"bin",5
+394,4F2E2E,"bin",5
+395,5C3CEC,"bathtub",5
+396,F375D7,"shampoo",5
+397,0EF7E4,"shampoo",5
+398,9A3180,"shampoo",5
+399,1BB303,"shampoo",5
+400,21291C,"unknown",5
+401,1FF148,"unknown",5
+402,117B52,"unknown",5
+403,ABA95A,"box",5
+404,3132F4,"unknown",5
+405,089BAC,"window",5
+406,055936,"door frame",5
+407,AA7767,"door",5
+408,658597,"lamp",5
+409,D30C50,"ceiling",6
+410,94795D,"floor",6
+411,F6A06D,"wall",6
+412,BF32DE,"wall",6
+413,516CE9,"wall",6
+414,03106B,"wall",6
+415,79EC35,"window",6
+416,F44256,"wall",6
+417,B88367,"wall",6
+418,FF078F,"wall",6
+419,7DB604,"door frame",6
+420,5FFAA0,"door frame",6
+421,ECD29D,"lamp",6
+422,73C2ED,"lamp",6
+423,C15F58,"shelf",6
+424,6567CB,"unknown",6
+425,43E570,"unknown",6
+426,07FB3E,"unknown",6
+427,0D7F77,"unknown",6
+428,7C898B,"unknown",6
+429,7340C0,"unknown",6
+430,7BFD5B,"unknown",6
+431,2667A9,"unknown",6
+432,5EAA2D,"unknown",6
+433,A87562,"unknown",6
+434,9E4168,"unknown",6
+435,9CE258,"clothes",6
+436,B2C33F,"clothes",6
+437,BDEA59,"clothes",6
+438,43E7BD,"unknown",6
+439,220C28,"wardrobe",6
+440,F26478,"floor",7
+441,58013C,"wall",7
+442,2897CF,"wall",7
+443,1EFE9E,"wall",7
+444,43AF8D,"wall",7
+445,C67539,"wardrobe",7
+446,6CEB52,"wall board",7
+447,5218CF,"picture",7
+448,84F7C6,"picture",7
+449,AB582B,"cabinet",7
+450,E7DE77,"tv",7
+451,788431,"case",7
+452,240CD6,"window",7
+453,37A81B,"rack",7
+454,E0856C,"picture",7
+455,91875E,"picture",7
+456,8606DA,"box",7
+457,8305A4,"book",7
+458,3F8B65,"book",7
+459,133E0E,"book",7
+460,FB8BDB,"book",7
+461,6CC29A,"book",7
+462,4E38C2,"book",7
+463,ADBA06,"book",7
+464,66AE13,"book",7
+465,492EFF,"book",7
+466,DD6B33,"book",7
+467,0485DB,"book",7
+468,73596E,"book",7
+469,4CB6AF,"book",7
+470,F272FA,"book",7
+471,031010,"book",7
+472,4CE455,"book",7
+473,7A7A66,"book",7
+474,717BFB,"book",7
+475,81F01A,"book",7
+476,93F4BA,"book",7
+477,96487F,"box",7
+478,FBEDEF,"box",7
+479,A9FB8B,"box",7
+480,DF11CC,"picture",7
+481,E47711,"door",7
+482,00C0FD,"plush toy",7
+483,58A215,"bed",7
+484,4B57AD,"plush toy",7
+485,DAF106,"plush toy",7
+486,454C1A,"plush toy",7
+487,0D5A3F,"plush toy",7
+488,5C4962,"plush toy",7
+489,412F22,"plush toy",7
+490,889328,"plush toy",7
+491,13B9BE,"plush toy",7
+492,DC4B52,"pillow",7
+493,3EACFA,"pillow",7
+494,FFA325,"pillow",7
+495,8C3BDB,"rack",7
+496,8CC577,"book",7
+497,9DBD79,"unknown",7
+498,309478,"rack",7
+499,8DCE3A,"speaker",7
+500,57355F,"toy",7
+501,F3BCA5,"toy",7
+502,104A55,"box",7
+503,7BD09A,"box",7
+504,703CB9,"box",7
+505,484283,"box",7
+506,5EE383,"box",7
+507,F3DA76,"box",7
+508,327E53,"unknown",7
+509,A536BA,"unknown",7
+510,FB5CC4,"pouffe",7
+511,3D1B52,"desk",7
+512,638B06,"toy",7
+513,6EB76C,"wall hanging decoration",7
+514,9EE5E9,"clock",7
+515,99DB0E,"box",7
+516,272E15,"toy",7
+517,DA740B,"chair",7
+518,5E00BC,"unknown",7
+519,3126D8,"unknown",7
+520,0CABAE,"ceiling",7
+521,5FEDCC,"ceiling fan",7
+522,C1415F,"ceiling",8
+523,A35FAE,"wall",8
+524,AD6D4A,"wall",8
+525,1C53E4,"wall",8
+526,5CF3A2,"wall",8
+527,06495C,"cabinet",8
+528,5C5E6C,"floor",8
+529,A47085,"box",8
+530,C090EA,"lamp",8
+531,97ADFB,"unknown",8
+532,EE66DF,"cabinet",8
+533,858CB4,"picture",8
+534,D7B008,"lamp",8
+535,CC4B8A,"door",8
+536,DF6936,"door",8
+537,2092B1,"door frame",8
+538,BCB940,"ceiling",9
+539,AE7BC0,"floor",9
+540,276A73,"wall",9
+541,6B25D0,"wall",9
+542,78A515,"wall",9
+543,5083FF,"wall",9
+544,F6EBEC,"window",9
+545,FDB34C,"shelf",9
+546,84417F,"tap",9
+547,449D3E,"bath cabinet",9
+548,C858B7,"sink",9
+549,5CFF7F,"shampoo",9
+550,4F8D80,"shampoo",9
+551,119BBC,"shampoo",9
+552,0ECB3B,"shampoo",9
+553,239AB4,"unknown",9
+554,32EF41,"unknown",9
+555,9E8437,"mirror",9
+556,9BFF9E,"towel",9
+557,59BADD,"rail",9
+558,6C6799,"unknown",9
+559,CC3F87,"unknown",9
+560,826C50,"towel",9
+561,B4FA67,"shower floor",9
+562,0C8027,"shower mat",9
+563,640E40,"lamp",9
+564,4B14C2,"toilet",9
+565,1B3391,"toilet paper",9
+566,353CE3,"trash can",9
+567,FCF080,"toilet brush",9
+568,09061E,"ceiling",10
+569,804564,"floor",10
+570,2D4312,"wall",10
+571,1894A9,"wall",10
+572,974F66,"wall",10
+573,E2346E,"wall",10
+574,C7BCA4,"window",10
+575,1321B5,"bed",10
+576,089885,"pillow",10
+577,96539A,"pillow",10
+578,E23B0E,"pillow",10
+579,32D072,"pillow",10
+580,0B3913,"pillow",10
+581,2CDEA5,"bag",10
+582,503189,"cabinet",10
+583,D10295,"lamp",10
+584,A289F1,"unknown",10
+585,A49346,"picture",10
+586,178573,"dresser",10
+587,765553,"bin",10
+588,531005,"wardrobe",10
+589,07C8D3,"mirror",10
+590,C65038,"dresser",10
+591,EC1D8E,"tv",10
+592,11DE72,"dresser",10
+593,77F6E2,"chair",10
+594,2D2567,"lamp",10
+595,308FC1,"curtain",10
+596,31A190,"air conditioner",10
+597,15204A,"speaker",10
+598,1BEAA7,"sculpture",10
+599,286B59,"sculpture",10
+600,40235E,"cabinet",10
+601,CB9014,"bag",10
+602,46DD00,"mirror",10
diff --git a/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.basis.navmesh b/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..b118076e19c6288f8590f0d23c7db63712f37e8a
Binary files /dev/null and b/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.basis.navmesh differ
diff --git a/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.semantic.txt b/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..141f14d4dd82b89095d78b4cd00e74d5b45deb49
--- /dev/null
+++ b/train/00307-vDfkYo5VqEQ/vDfkYo5VqEQ.semantic.txt
@@ -0,0 +1,362 @@
+HM3D Semantic Annotations
+1,741737,"ceiling",0
+2,11D106,"wall",0
+3,E2F225,"wall",0
+4,0F7327,"wall",0
+5,8BACAD,"wall",0
+6,ADEB66,"wall",0
+7,949E23,"wall",0
+8,596AD2,"wall",0
+9,C1E1E4,"wall",0
+10,6BA0B2,"wall",0
+11,1D243D,"wall",0
+12,BE9398,"wall",0
+13,521377,"wall",0
+14,FB895B,"wall",0
+15,0DE21B,"floor",0
+16,807D55,"pillar",0
+17,D9C3F6,"pillar",0
+18,554CD6,"pillar",0
+19,DD5A14,"fire alarm",0
+20,2DC3B1,"alarm",0
+21,18B1D6,"fireplace",0
+22,DFE09A,"fireplace wall",0
+23,73B996,"fireplace wall",0
+24,7561D8,"fireplace wall",0
+25,F0AD70,"tv",0
+26,E241B5,"appliance",0
+27,289FB1,"door frame",0
+28,383E71,"door",0
+29,47A391,"door frame",0
+30,490F68,"door",0
+31,DDD112,"door frame",0
+32,01A063,"door",0
+33,E35DFA,"window frame",0
+34,76882F,"window frame",0
+35,CBFAA3,"window frame",0
+36,F99C24,"window frame",0
+37,C81384,"curtain",0
+38,1CF4BB,"curtain",0
+39,09AAEE,"curtain",0
+40,73BC90,"archway",0
+41,AD63DD,"appliance",0
+42,7760C6,"picture",0
+43,3645C0,"painting",0
+44,A3F872,"painting",0
+45,8366D6,"painting",0
+46,9C74C7,"decoration",0
+47,A94A84,"chandelier",0
+48,6BADF7,"chandelier",0
+49,CD370F,"picture",0
+50,E9F470,"lamp",0
+51,AED2FF,"cabinet",0
+52,A8245F,"kitchen cabinet",0
+53,716F67,"kitchen lower cabinet",0
+54,12C773,"kitchen lower cabinet",0
+55,36194D,"kitchen lower cabinet",0
+56,5EC27F,"kitchen counter",0
+57,DD1B25,"sink",0
+58,E52214,"tap",0
+59,FFBC2E,"bowl",0
+60,0788D8,"couch",0
+61,6605C9,"couch",0
+62,E7DBAD,"couch",0
+63,789B6F,"table",0
+64,4CA57C,"flowerpot",0
+65,02E569,"table",0
+66,6BD1A0,"flowerpot",0
+67,CBE92E,"appliance",0
+68,A4A772,"table",0
+69,BCE1F6,"flowerpot",0
+70,E95E38,"table",0
+71,1ADA5A,"flowerpot",0
+72,DD26E9,"pouffe",0
+73,BA92D4,"kitchen lower cabinet",0
+74,3692D0,"kitchen cabinet",0
+75,5A13E2,"refrigerator",0
+76,CC5BAB,"oven and stove",0
+77,FAED85,"microwave",0
+78,8AC96D,"dishwasher",0
+79,C0FABA,"decoration",0
+80,B7DB0C,"kitchen countertop item",0
+81,A7FC23,"kitchen countertop item",0
+82,F6F2B7,"pillow",0
+83,87B6F5,"pillow",0
+84,AFD1F1,"table",0
+85,4739F8,"flowerpot",0
+86,1C1B3A,"decoration",0
+87,ECFA6F,"decoration",0
+88,D95C7D,"appliance",0
+89,0EF39D,"flower vase",0
+90,605F15,"table",0
+91,168927,"chair",0
+92,9D540F,"chair",0
+93,A12F4D,"flower vase",0
+94,35AD65,"rack",0
+95,251570,"plate",0
+96,1B604D,"plate",0
+97,5B7D8B,"plate",0
+98,6EC2F2,"plate",0
+99,63D56B,"ceiling lamp",0
+100,25CBF0,"ceiling lamp",0
+101,0F63D3,"ceiling lamp",0
+102,EF5D7C,"ceiling lamp",0
+103,BAAF43,"ceiling lamp",0
+104,4A7DAC,"ceiling lamp",0
+105,83BE14,"vent",0
+106,DA9273,"window",0
+107,C0B718,"window",0
+108,AC5057,"window",0
+109,6BAE5C,"window",0
+110,7D54E4,"mat",0
+111,9BDDEC,"teapot",0
+112,083DEC,"teapot",0
+113,EEB805,"teapot",0
+114,EE4669,"teapot",0
+115,A6F3C5,"blanket",0
+116,341A1B,"floor",1
+117,1B7054,"wall",1
+118,70D280,"wall",1
+119,39E131,"wall",1
+120,09280E,"wall",1
+121,6D9DAA,"wall",1
+122,5F0F31,"wall",1
+123,3CA303,"ceiling",1
+124,C6E775,"ceiling",1
+125,DCB711,"wall",1
+126,3A5171,"door frame",1
+127,7EBA06,"door frame",1
+128,EFE21D,"door",1
+129,C42F11,"door",1
+130,BF7572,"painting",1
+131,26CDD1,"picture",1
+132,F4FD94,"window frame",1
+133,701307,"window",1
+134,36318B,"wall lamp",1
+135,367D1F,"stairs",1
+136,7C2C61,"staircase handrail",1
+137,495FF9,"ceiling",2
+138,3EC6F9,"wall",2
+139,30D65F,"wall",2
+140,32B941,"wall",2
+141,008702,"wall",2
+142,51A7E0,"wall",2
+143,E53AC2,"wall",2
+144,DE05E9,"wall",2
+145,04380F,"wall",2
+146,D7F4F8,"wall",2
+147,1CF3A6,"wall",2
+148,C7B988,"wall",2
+149,24D482,"floor",2
+150,9857CE,"wall",2
+151,EEE621,"wall",2
+152,AEB536,"wall",2
+153,BA8EEC,"door frame",2
+154,BF8F6D,"door frame",2
+155,906DD9,"door frame",2
+156,5BD9DA,"door frame",2
+157,34BF08,"door frame",2
+158,CEE911,"door frame",2
+159,FD64AD,"ceiling lamp",2
+160,C0EC9D,"ceiling lamp",2
+161,C85434,"ceiling lamp",2
+162,026683,"vent",2
+163,093DE7,"parapet",2
+164,89AA4D,"flower vase",2
+165,C0AE19,"desk",2
+166,AB3998,"desk chair",2
+167,D27865,"printer",2
+168,DA9000,"speaker",2
+169,3ACEA7,"telephone",2
+170,6730EF,"screen",2
+171,966A94,"appliance",2
+172,A5FECE,"computer mouse",2
+173,53CEE4,"picture",2
+174,8C52F3,"picture",2
+175,D181A8,"stair",2
+176,915E7D,"staircase handrail",2
+177,855ECE,"picture",2
+178,E20BFD,"picture",2
+179,AD0825,"appliance",2
+180,590DA6,"fire alarm",2
+181,684AE2,"fire alarm",2
+182,C16356,"door",2
+183,691A4D,"door",3
+184,9179BD,"floor",3
+185,001295,"rug",3
+186,21BB62,"wall",3
+187,04E1D0,"wall",3
+188,D95D8C,"wall",3
+189,E831C3,"ceiling",3
+190,A31D29,"fan",3
+191,A98858,"wall",3
+192,59A093,"wall",3
+193,3AF9B7,"wall",3
+194,7BF1A2,"wall",3
+195,813120,"door frame",3
+196,3D6BC1,"door",3
+197,FF40E1,"couch",3
+198,7D6B28,"pillow",3
+199,9D43ED,"pillow",3
+200,595EB0,"lamp",3
+201,3AE832,"picture",3
+202,69C45E,"cabinet",3
+203,CE087C,"tv",3
+204,20B34D,"cabinet",3
+205,58D3FB,"flower vase",3
+206,FB7F53,"decoration",3
+207,99414D,"window frame",3
+208,FE3A50,"window",3
+209,BFD3ED,"curtain",3
+210,D8AA9B,"curtain",3
+211,A29430,"curtain rod",3
+212,FCC530,"fire alarm",3
+213,21C960,"chest",3
+214,CC944B,"door",4
+215,D08366,"wall",4
+216,D96854,"wall",4
+217,FADE64,"wall",4
+218,562D6F,"wall",4
+219,C159DD,"wall",4
+220,97E539,"ceiling",4
+221,A872D2,"fire alarm",4
+222,F9933C,"fan",4
+223,2C058D,"door frame",4
+224,F4AD17,"door",4
+225,137118,"window frame",4
+226,3D6346,"window",4
+227,E1F90C,"curtain",4
+228,BC3663,"curtain",4
+229,B526F8,"curtain bar",4
+230,74CF62,"bed",4
+231,FB4857,"cabinet",4
+232,28EFEF,"cabinet",4
+233,B16E7F,"lamp",4
+234,53D64A,"lamp",4
+235,8B4278,"painting",4
+236,AE7FFF,"drawer",4
+237,1D99CC,"tv",4
+238,EC0F1C,"appliance",4
+239,BF4001,"candlestick",4
+240,F73B96,"carpet",4
+241,E46075,"pillow",4
+242,3123DE,"pillow",4
+243,571D43,"door",5
+244,2845E0,"curtain",5
+245,B6B4A3,"ceiling",5
+246,300F3F,"wall",5
+247,D648DB,"wall",5
+248,9871E4,"wall",5
+249,F1C618,"wall",5
+250,E7D6E8,"wall",5
+251,5A80C1,"floor",5
+252,D334E7,"toilet",5
+253,A6118C,"vent",5
+254,D02348,"vent",5
+255,05BCAE,"towel bar",5
+256,826942,"towel bar",5
+257,7634A8,"bathroom cabinet",5
+258,5A7C47,"sink",5
+259,ED1ACA,"sink",5
+260,2732A5,"tap",5
+261,46BB45,"tap",5
+262,179A25,"bathroom accessory",5
+263,D7F7F0,"trash can",5
+264,DE452F,"mirror",5
+265,6D1A09,"decoration",5
+266,FB7002,"ceiling",6
+267,E9A221,"ceiling",6
+268,8BC43E,"wall",6
+269,ECF684,"wall",6
+270,F19D3F,"wall",6
+271,81D214,"wall",6
+272,7CF63A,"wall",6
+273,6D44D6,"wall",6
+274,4716B1,"wall",6
+275,E85B96,"wall",6
+276,06BF46,"wall",6
+277,465D09,"fan",6
+278,444D13,"bed",6
+279,C44B56,"carpet",6
+280,D99AAE,"drawer",6
+281,4F9965,"door frame",6
+282,940DEC,"door frame",6
+283,9D4F44,"door",6
+284,F4EE4B,"door",6
+285,D66CFB,"fire alarm",6
+286,B76A83,"vent",6
+287,E28979,"picture",6
+288,A6A655,"picture",6
+289,102A03,"picture",6
+290,161865,"picture",6
+291,C9F658,"picture",6
+292,6F2D9C,"sofa chair",6
+293,013CC4,"window frame",6
+294,A7853B,"window frame",6
+295,F6FD59,"window",6
+296,F9FA8B,"window",6
+297,6B2EC8,"curtain",6
+298,BF6467,"curtain",6
+299,6A2390,"curtain",6
+300,E8D814,"curtain",6
+301,02F1D6,"curtain rod",6
+302,3D063F,"curtain rod",6
+303,80B42E,"cabinet",6
+304,B1BE43,"lamp",6
+305,CDA1D6,"lamp",6
+306,1EEEB0,"drawer",6
+307,C15DBF,"box",6
+308,A41727,"cabinet",6
+309,218330,"flowerpot",6
+310,AC1845,"pillow",6
+311,CA40BF,"pillow",6
+312,758DF5,"pillow",6
+313,5471E8,"pillow",6
+314,3A2B79,"pillow",6
+315,244313,"pillow",6
+316,860EE2,"pillow",6
+317,06D900,"pillow",6
+318,D3D475,"door",7
+319,407E4C,"floor",7
+320,D0FA78,"ceiling",7
+321,5C30D9,"wall",7
+322,2C8F64,"wall",7
+323,A6DA69,"wall",7
+324,623F65,"wall",7
+325,9B0014,"wall",7
+326,6E70CE,"wall",7
+327,0DB324,"wall",7
+328,D1EB4C,"door frame",7
+329,B7D29B,"door",7
+330,F9BBC8,"wall",7
+331,E5DED7,"wall",7
+332,5FD482,"wall",7
+333,445CE4,"wall",7
+334,97BCAE,"parapet",7
+335,855C93,"pillar",7
+336,F4CBE5,"parapet",7
+337,039F30,"wall",7
+338,6096D5,"window frame",7
+339,E299F7,"window",7
+340,5DE23B,"picture",7
+341,94674B,"flowerpot",7
+342,939430,"flower vase",7
+343,CA0A25,"wall lamp",7
+344,FC632E,"bathroom cabinet",7
+345,1A3261,"sink",7
+346,03A52A,"sink",7
+347,0693A2,"tap",7
+348,7D9A28,"tap",7
+349,BE05DC,"mirror",7
+350,C4B9AC,"bathroom accessory",7
+351,62C48D,"bathtub",7
+352,6B5DA7,"bathroom accessory",7
+353,ACBFD9,"tap",7
+354,F3066F,"towel bar",7
+355,A0F2CB,"towel bar",7
+356,9508DE,"vent",7
+357,DCF83A,"vent",7
+358,08F72F,"handle",7
+359,0C352E,"shower cabin",7
+360,7861BA,"ceiling lamp",7
+361,C89664,"unknown/remove",8
\ No newline at end of file
diff --git a/train/00311-mHXUEKEV6gR/mHXUEKEV6gR.basis.navmesh b/train/00311-mHXUEKEV6gR/mHXUEKEV6gR.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..10254ed1bd39e2754b14770db7d1e8830ba9506b
Binary files /dev/null and b/train/00311-mHXUEKEV6gR/mHXUEKEV6gR.basis.navmesh differ
diff --git a/train/00314-NwG7cpZnRZb/NwG7cpZnRZb.basis.navmesh b/train/00314-NwG7cpZnRZb/NwG7cpZnRZb.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..fc5312f03ae2b6e84f4dcefb0b64f678b9875dbd
Binary files /dev/null and b/train/00314-NwG7cpZnRZb/NwG7cpZnRZb.basis.navmesh differ
diff --git a/train/00315-We1N7vBtyGm/We1N7vBtyGm.basis.navmesh b/train/00315-We1N7vBtyGm/We1N7vBtyGm.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..3bb0ef02c7de33d9e6c0572e22efbf58ac161b0e
Binary files /dev/null and b/train/00315-We1N7vBtyGm/We1N7vBtyGm.basis.navmesh differ
diff --git a/train/00332-cWfRoQnzNiM/cWfRoQnzNiM.basis.navmesh b/train/00332-cWfRoQnzNiM/cWfRoQnzNiM.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..406ebe9102a8529ff191944111c48a2767d5a580
Binary files /dev/null and b/train/00332-cWfRoQnzNiM/cWfRoQnzNiM.basis.navmesh differ
diff --git a/train/00362-o94q92w5PK5/o94q92w5PK5.basis.navmesh b/train/00362-o94q92w5PK5/o94q92w5PK5.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..07139e5b345b2a39ddff761d868c520fab2af30f
Binary files /dev/null and b/train/00362-o94q92w5PK5/o94q92w5PK5.basis.navmesh differ
diff --git a/train/00369-FgXPKxNp5kK/FgXPKxNp5kK.basis.navmesh b/train/00369-FgXPKxNp5kK/FgXPKxNp5kK.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..ad58f014a846d68b84f490db67979158eccdf615
Binary files /dev/null and b/train/00369-FgXPKxNp5kK/FgXPKxNp5kK.basis.navmesh differ
diff --git a/train/00370-RcuYAHzrjK7/RcuYAHzrjK7.basis.navmesh b/train/00370-RcuYAHzrjK7/RcuYAHzrjK7.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..bed461c5257450e6575a2b09f230e56bd7d40c58
Binary files /dev/null and b/train/00370-RcuYAHzrjK7/RcuYAHzrjK7.basis.navmesh differ
diff --git a/train/00396-wuKkTq5GJbi/wuKkTq5GJbi.basis.navmesh b/train/00396-wuKkTq5GJbi/wuKkTq5GJbi.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..97fbd5b463404b46bd961985cfe6408c410bdbf4
Binary files /dev/null and b/train/00396-wuKkTq5GJbi/wuKkTq5GJbi.basis.navmesh differ
diff --git a/train/00411-o4tckGBtaxz/o4tckGBtaxz.basis.navmesh b/train/00411-o4tckGBtaxz/o4tckGBtaxz.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..362fd876fa088d86dfd1c1b80460775fac6a4783
Binary files /dev/null and b/train/00411-o4tckGBtaxz/o4tckGBtaxz.basis.navmesh differ
diff --git a/train/00421-gamLwhSzHci/gamLwhSzHci.basis.navmesh b/train/00421-gamLwhSzHci/gamLwhSzHci.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..cdc8741332155b5d3a9bfca52bb3101f07ac0228
Binary files /dev/null and b/train/00421-gamLwhSzHci/gamLwhSzHci.basis.navmesh differ
diff --git a/train/00430-P8L1328HrLi/P8L1328HrLi.basis.navmesh b/train/00430-P8L1328HrLi/P8L1328HrLi.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..be025fc443378a052d8cb8917603cc9ce8897212
Binary files /dev/null and b/train/00430-P8L1328HrLi/P8L1328HrLi.basis.navmesh differ
diff --git a/train/00442-tJ7XVoEN82a/tJ7XVoEN82a.basis.navmesh b/train/00442-tJ7XVoEN82a/tJ7XVoEN82a.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..96269f8b61d53f3d5e75733f1dd048d60003c111
Binary files /dev/null and b/train/00442-tJ7XVoEN82a/tJ7XVoEN82a.basis.navmesh differ
diff --git a/train/00451-FYYpmNC4gAd/FYYpmNC4gAd.basis.navmesh b/train/00451-FYYpmNC4gAd/FYYpmNC4gAd.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..678cf960b182eb8a6160112409f985bd3737088e
Binary files /dev/null and b/train/00451-FYYpmNC4gAd/FYYpmNC4gAd.basis.navmesh differ
diff --git a/train/00460-LViDMxZp4ZN/LViDMxZp4ZN.basis.navmesh b/train/00460-LViDMxZp4ZN/LViDMxZp4ZN.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..d4e9a88e9fef27c9c27b53e3763055d7246a7680
Binary files /dev/null and b/train/00460-LViDMxZp4ZN/LViDMxZp4ZN.basis.navmesh differ
diff --git a/train/00489-boJrpwDQtu9/boJrpwDQtu9.basis.navmesh b/train/00489-boJrpwDQtu9/boJrpwDQtu9.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..0acb292b957e82442252ca9cb88a5a52332ae514
Binary files /dev/null and b/train/00489-boJrpwDQtu9/boJrpwDQtu9.basis.navmesh differ
diff --git a/train/00496-eWKqgQbVZow/eWKqgQbVZow.basis.navmesh b/train/00496-eWKqgQbVZow/eWKqgQbVZow.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..16a4ca92308982fb99dd84fb9bb4f2d3a8b7d752
Binary files /dev/null and b/train/00496-eWKqgQbVZow/eWKqgQbVZow.basis.navmesh differ
diff --git a/train/00510-JSgMy8tTACD/JSgMy8tTACD.basis.navmesh b/train/00510-JSgMy8tTACD/JSgMy8tTACD.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..dbed10b5dbe6dee822e19187a5a7d1e4e9c3f40b
Binary files /dev/null and b/train/00510-JSgMy8tTACD/JSgMy8tTACD.basis.navmesh differ
diff --git a/train/00520-LpFSk2s7me6/LpFSk2s7me6.basis.navmesh b/train/00520-LpFSk2s7me6/LpFSk2s7me6.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..00b6ec20faee687276ff578db472dff8b0155171
Binary files /dev/null and b/train/00520-LpFSk2s7me6/LpFSk2s7me6.basis.navmesh differ
diff --git a/train/00528-BCWtGkh8CHv/BCWtGkh8CHv.basis.navmesh b/train/00528-BCWtGkh8CHv/BCWtGkh8CHv.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..5d01e52981f2e75b8a51b8d2d93b83d13ba96e0f
Binary files /dev/null and b/train/00528-BCWtGkh8CHv/BCWtGkh8CHv.basis.navmesh differ
diff --git a/train/00532-4euAVjDbkz9/4euAVjDbkz9.basis.navmesh b/train/00532-4euAVjDbkz9/4euAVjDbkz9.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..fe02787f8f3a67161e1ab3d9ff8892f9fcdba6c8
Binary files /dev/null and b/train/00532-4euAVjDbkz9/4euAVjDbkz9.basis.navmesh differ
diff --git a/train/00559-53jtKd53a1X/53jtKd53a1X.basis.navmesh b/train/00559-53jtKd53a1X/53jtKd53a1X.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..2bd3daaa59ab60e03ac7eeb23b49924db3e6fe69
Binary files /dev/null and b/train/00559-53jtKd53a1X/53jtKd53a1X.basis.navmesh differ
diff --git a/train/00574-bXu6SSWkJY8/bXu6SSWkJY8.basis.navmesh b/train/00574-bXu6SSWkJY8/bXu6SSWkJY8.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e9a9732814f3a4f2634ded07abac3c8b71d479ea
Binary files /dev/null and b/train/00574-bXu6SSWkJY8/bXu6SSWkJY8.basis.navmesh differ
diff --git a/train/00604-W4r5JssudHR/W4r5JssudHR.basis.navmesh b/train/00604-W4r5JssudHR/W4r5JssudHR.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..39eb6318dc3b38003b1c7661d6c4fd6f5489f89f
Binary files /dev/null and b/train/00604-W4r5JssudHR/W4r5JssudHR.basis.navmesh differ
diff --git a/train/00605-T22dejNjHK7/T22dejNjHK7.basis.navmesh b/train/00605-T22dejNjHK7/T22dejNjHK7.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..c52c4220c87854a031eb97f59517ac9d83606eb3
Binary files /dev/null and b/train/00605-T22dejNjHK7/T22dejNjHK7.basis.navmesh differ
diff --git a/train/00610-1EiJpeRNEs1/1EiJpeRNEs1.basis.navmesh b/train/00610-1EiJpeRNEs1/1EiJpeRNEs1.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..30f3fa3849601ec95d9302af654135e5c0931fff
Binary files /dev/null and b/train/00610-1EiJpeRNEs1/1EiJpeRNEs1.basis.navmesh differ
diff --git a/train/00619-R9fYpvCUkV7/R9fYpvCUkV7.semantic.txt b/train/00619-R9fYpvCUkV7/R9fYpvCUkV7.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07af9d6d0ca6e3c57b5e21bea871c6f46bd6dbef
--- /dev/null
+++ b/train/00619-R9fYpvCUkV7/R9fYpvCUkV7.semantic.txt
@@ -0,0 +1,463 @@
+HM3D Semantic Annotations
+1,8F990A,"floor",0
+2,3E5B50,"ceiling",0
+3,917097,"wall",0
+4,7550B9,"wall",0
+5,7BB914,"wall",0
+6,C7A67C,"wall",0
+7,61731A,"gym rope",0
+8,ECB799,"lamp",0
+9,1C096B,"bench",0
+10,3C5159,"wall",0
+11,24DB99,"gym equipment",0
+12,D77673,"gym equipment",0
+13,493A5B,"gym equipment",0
+14,F4B0C2,"gym equipment",0
+15,FF5943,"gym equipment",0
+16,5C4282,"gym equipment",0
+17,A8EE32,"gym equipment",0
+18,F268F5,"barbell",0
+19,DEBEC3,"dumbbell",0
+20,F0AE00,"dumbbell",0
+21,82079B,"dumbbell",0
+22,DBB900,"dumbbell",0
+23,BA5412,"gym stepper",0
+24,CFE3ED,"gym equipment",0
+25,D7B456,"gym equipment",0
+26,55DE99,"gym equipment",0
+27,C7A919,"exercise ball",0
+28,C9ED1B,"beam",0
+29,393469,"gym equipment",0
+30,BA58B0,"lamp",0
+31,88CC14,"gym equipment",0 
+32,7DE5D7,"weight bench",0
+33,95AFB9,"mirror",0
+34,AEDD3D,"smoke detector",0
+35,9C5AE6,"gym equipment",0
+36,86E805,"barbell",0
+37,B07E85,"gym equipment",0
+38,118D13,"gym mat",0
+39,18F114,"gym mat",0
+40,6846D8,"smoke detector",0
+41,A2C890,"unknown",0
+42,03B01E,"gym mat",0
+43,3A60AE,"gym equipment",0
+44,E112EB,"gym equipment",0
+45,6E5118,"gym equipment",0
+46,236567,"gym equipment",0
+47,611DF4,"bar",0 
+48,0F0B64,"ceiling",1
+49,A79348,"floor",1
+50,52B43A,"wall",1
+51,9B9877,"wall beam",1
+52,11ECEC,"meshwork",1
+53,A4B062,"painting",1
+54,CD130B,"wall",1
+55,2CFD5D,"bench",1
+56,46AE79,"gym equipment",1
+57,8B9432,"speaker",1
+58,62ED5A,"gym equipment",1
+59,CD4140,"punchbag",1
+60,58DF19,"punchbag",1
+61,78465A,"punchbag",1
+62,A94F7C,"chest",1
+63,7005A8,"trashcan",1
+64,C8036C,"chest",1
+65,9D94AD,"radiator",1
+66,CDBAB4,"unknown",1
+67,E915D8,"unknown",1
+68,013ABB,"air vent",1
+69,702A92,"wall",1
+70,ABDC7B,"wall",1
+71,B43122,"column",1
+72,11FDBF,"column",1
+73,59FDDD,"gym equipment",1
+74,2816C8,"gym equipment",1
+75,0E9C5F,"gym equipment",1
+76,FD2AC7,"gym equipment",1
+77,DD2E2E,"gym equipment",1
+78,C43E24,"gym equipment",1
+79,3BD654,"gym equipment",1
+80,7E17EC,"gym equipment",1
+81,185C72,"gym equipment",1
+82,D7E699,"gym equipment",1
+83,17F0A3,"gym equipment",1
+84,19F68F,"gym equipment",1
+85,698C6C,"gym equipment",1
+86,C6B2C4,"pipe",1
+87,A9CA41,"lamp",1
+88,C42402,"lamp",1
+89,C5530F,"boxing ring",1
+90,2D54DB,"air duct",1
+91,DEAE23,"pipe",1
+92,46ED4A,"pipe",1 
+93,698F09,"pipe",1
+94,218B2E,"pipe",1
+95,BDD420,"pipe",1
+96,BD6051,"pipe",1
+97,A1C463,"lamp",1
+98,9199B0,"unknown",1
+99,240331,"unknown",1
+100,0BD8B7,"unknown",1
+101,CFE186,"unknown",1
+102,6E2006,"unknown",1
+103,ECF46A,"unknown",1
+104,FC176D,"unknown",1
+105,CD21FA,"unknown",1
+106,1CEDED,"unknown",1
+107,EDC04E,"unknown",1
+108,2EC0BD,"unknown",1
+109,964361,"unknown",1
+110,F9653A,"unknown",1
+111,58EED6,"unknown",1
+112,81FB58,"unknown",1
+113,5A853D,"unknown",1
+114,92F791,"clock",1
+115,6AABBF,"door frame",1
+116,B1F3B5,"door",1
+117,BEF332,"unknown",1
+118,DE3914,"wall",0 
+119,CAF306,"pipe",1
+120,4F681C,"lamp",1
+121,107A3E,"floor",2
+122,0358F3,"wall",2
+123,E647E5,"wall",2
+124,76AFC5,"wall",2
+125,CD2584,"wall",2
+126,5624A0,"wall",2
+127,A9AC11,"wall",2
+128,EEC5FB,"wall",2
+129,5E09C3,"wall",2
+130,F84E51,"wall",2
+131,EBC9CA,"banister",2
+132,399C26,"door",2
+133,EF1C69,"stairs",2
+134,6AB0DB,"lamp",2
+135,4B7DB9,"lamp",2
+136,FD6331,"ceiling under stairs",2
+137,A1B27E,"ceiling under stairs",2
+138,983344,"ceiling under stairs",2
+139,C36B4A,"ceiling under stairs",2
+140,D1EBBD,"ceiling under stairs",2
+141,766F68,"ceiling under stairs",2
+142,7DAC2D,"ceiling under stairs",2
+143,65B7D8,"ceiling under stairs",2
+144,9047F8,"ceiling under stairs",2
+145,1CC3D1,"ceiling under stairs",2
+146,55347F,"ceiling under stairs",2
+147,A58F1A,"ceiling under stairs",2
+148,2A2C79,"wall",2
+149,368B1A,"ceiling",2 
+150,CBBFBC,"door",2
+151,E8E027,"wall",2
+152,797DCC,"wall",2
+153,4A9FEB,"door",2
+154,B23D9D,"wall",2
+155,30F952,"wall",2
+156,9B8676,"wall",2
+157,7A3B66,"wall",2
+158,A11685,"wall",2
+159,5FEC4D,"ceiling",2
+160,7CD777,"floor",2
+161,E63EBA,"wall",2
+162,2BACC7,"wall",2
+163,7725EB,"wall",2
+164,48E7A8,"wall",2
+165,28F765,"wall",2
+166,01A57B,"wall",2
+167,74E4A7,"wall",2
+168,8CF7ED,"wall",2
+169,E95897,"wall",2
+170,009B31,"unknown",2
+171,144D7F,"floor",3
+172,932970,"wall",3
+173,CA8276,"ceiling",3
+174,13D5D6,"lamp",3
+175,F17840,"wall",3
+176,362374,"wall",3
+177,A7BAD4,"wall",3
+178,A54607,"wall",3
+179,F214DF,"unknown",3
+180,320E61,"unknown",3
+181,48639F,"table",3
+182,92090E,"sofa",3
+183,C5882C,"radiator",3
+184,3BE245,"water dispenser",3
+185,F5F65F,"water tank",3
+186,7A63FD,"storage cabinet",3
+187,3455FB,"decorative plant",3
+188,16E82F,"decorative plant",3
+189,FA9050,"gym equipment",3
+190,F8B02D,"pipe",3
+191,9CA2ED,"door",3
+192,DFF918,"glass",3
+193,D8992C,"door frame",3
+194,F97D27,"pipe",3
+195,43D5D4,"door frame",3
+196,8AF47A,"door",3
+197,AAB8AD,"door frame",3
+198,CEC34B,"paper",3
+199,F19CCE,"book",3
+200,07000A,"pile of magazines",3
+201,D999D9,"pile of magazines",3
+202,E032CC,"pile of magazines",3
+203,B07E39,"floor",4
+204,F89A32,"ceiling",4
+205,1B49F4,"lamp",4
+206,AF9A31,"lamp",4
+207,6B20A1,"air conditioner",4
+208,3BCBFA,"gym equipment",4
+209,D48166,"gym equipment",4
+210,EBA3ED,"gym equipment",4
+211,002E41,"gym stepper",4
+212,99C32B,"gym stepper",4
+213,329DCF,"mirror",4
+214,464AA7,"exercise mat",4
+215,E53DB3,"exercise mat roll",4
+216,3FEA44,"wall",4
+217,CC52D9,"wall",4
+218,372733,"wall",4
+219,FA6A71,"wall",4
+220,7153ED,"wall",4
+221,317E2D,"wall",4
+222,C5646C,"wall",4
+223,4FE02B,"wall",4
+224,766BDA,"wall",4
+225,56C43E,"wall",4
+226,BFD65F,"wall",4
+227,9068CB,"wall",4
+228,9D75AD,"gym equipment",4
+229,8FB391,"wall",4
+230,F119FD,"wall",4
+231,DDD2B5,"wall",4
+232,78C1B2,"wall",4
+233,0383CD,"wall",4
+234,86A8C9,"wall",4
+235,F16FFA,"unknown",4
+236,E83028,"radiator",4
+237,0848F2,"gym equipment",4
+238,F0672D,"storage shelving",4
+239,D699E9,"pillow",4
+240,B79BBE,"pillow",4
+241,731E24,"unknown",4
+242,B77D63,"unknown",4
+243,51B3E5,"box",4
+244,F6D0A9,"exercise ball",4
+245,1705FA,"exercise equipment",4
+246,9114C1,"exercise equipment",4
+247,72E571,"exercise equipment",4
+248,095B8E,"exercise mat",4 
+249,E2B8EB,"mirror",4
+250,8F1E23,"wall",4
+251,A4B47F,"wall",4
+252,AEC6EC,"exercise equipment",4
+253,A32732,"exercise equipment",4
+254,1206A5,"exercise ball",4
+255,3F195A,"window glass",4
+256,4B63A3,"unknown",4
+257,DD3A52,"dumbbell",4
+258,C5E01B,"dumbbell",4
+259,8DFCF4,"dumbbell",4
+260,4E8E0F,"dumbbell",4 
+261,45D3B3,"unknown",4
+262,6357BC,"unknown",4
+263,4FA715,"unknown",4
+264,660993,"unknown",4
+265,6B5515,"cloth",4
+266,768B8A,"towel",4
+267,73F287,"exercise equipment",4
+268,0389D8,"exercise equipment",4
+269,10B96F,"exercise equipment",4
+270,01F8D6,"exercise equipment",4
+271,E3F917,"exercise equipment",4
+272,ADA4F2,"exercise equipment",4
+273,189D3E,"exercise equipment",4
+274,7BE28A,"exercise equipment",4
+275,3AD84E,"exercise equipment",4
+276,6722F4,"blinds",4
+277,211EDF,"blinds",4
+278,56F542,"blinds",4
+279,ADCBB0,"window frame",4
+280,145CDA,"remote control",4
+281,D42BE6,"exercise equipment",4
+282,DA7527,"window shade",4
+283,947138,"window shade",4
+284,45FAFA,"floor",5
+285,9BD391,"lamp",5
+286,D59C82,"lamp",5
+287,0106DB,"lamp",5
+288,F0106B,"lamp",5
+289,24422D,"lamp",5
+290,990383,"wall",5
+291,70022E,"wall",3
+292,C49A73,"wall",5 
+293,52BDA9,"wall",5 
+294,C0DB2D,"stool",5
+295,56559E,"chair",5
+296,FB3A07,"chair",5
+297,8C7C6F,"trashcan",5
+298,41EA0B,"fire extinguisher",5 
+299,F695D3,"gate",5
+300,EF24F8,"gate",5
+301,83C15C,"wall",5
+302,599047,"door",5
+303,F8D293,"wall",5
+304,1A561E,"wall",5
+305,FC606E,"wall",5
+306,E8B010,"wall",5
+307,1A0175,"wall",5
+308,13CB6C,"wall",5
+309,B575CB,"wall",5
+310,8DBEAB,"wall",5
+311,F419D1,"wall",5
+312,CB707B,"wall",5
+313,259457,"wall",5
+314,DF7E71,"door frame",5
+315,2F705C,"window frame",5
+316,CF4BA3,"fridge",5
+317,9D198F,"wall",5
+318,67C9B7,"trophy",5
+319,FEF139,"trophy",5
+320,F617C6,"chair",5
+321,C4E40F,"side table",5
+322,1D9E83,"desk",5 
+323,D3C5B5,"ceiling",5
+324,A2C80A,"door frame",5
+325,A2B530,"bulletin board",5
+326,E346F3,"wall",5
+327,9D04C4,"window glass",5
+328,E52CB6,"window glass",5
+329,248AB8,"window glass",5
+330,60F33E,"wall",5 
+331,C428D1,"unknown",5
+332,0F84F1,"shelf",5
+333,B740B6,"shelf",5
+334,DFF992,"floor",5
+335,97F52D,"electric box",5
+336,67267C,"unknown",5
+337,FEA724,"paper storage",5
+338,EC2342,"paper",5
+339,4FFBBC,"payment terminal",5
+340,C1E652,"cash register",5
+341,E6ED1B,"unknown",5
+342,4C19E3,"unknown",5
+343,35FE7B,"unknown",5
+344,B8D1E5,"unknown",5
+345,68713C,"unknown",5
+346,21E80F,"unknown",5
+347,D4006E,"unknown",5
+348,46D491,"unknown",5
+349,DA1A8B,"unknown",5
+350,D08270,"picture",5
+351,2418B0,"power strip",5
+352,0BDBC7,"power strip",5
+353,1C13DE,"floor",6
+354,FFCE59,"ceiling",6
+355,159F3C,"wall",6
+356,1C78BC,"wall",6
+357,84EFC7,"wall",6
+358,9D57CB,"wall",6
+359,107D16,"lamp",6
+360,B5E2DD,"door",6
+361,815FC3,"cloth hanger",6
+362,D2AC86,"pouffe",6
+363,12A22A,"bowl",6
+364,FAF802,"locker",6
+365,3DA6B5,"locker",6
+366,129780,"box",6
+367,C87980,"box",6
+368,185C2A,"floor mat",6
+369,C40E3F,"unknown",6
+370,D19736,"floor",7
+371,39A47A,"door",7
+372,C7FD03,"wall",7
+373,EA5115,"wall",7
+374,51D534,"shower cabin",7 
+375,C87517,"door frame",7
+376,613739,"floor",8
+377,8D84A7,"ceiling",8
+378,147F71,"wall",8
+379,62A79E,"wall",8
+380,2884A4,"toilet",8
+381,45D46E,"toilet brush",8
+382,3F9DEF,"toilet paper",8
+383,B23B5F,"trashcan",8
+384,0AE871,"washbasin",8
+385,B5C6B1,"wash cabinet",8
+386,B120B3,"cabinet door",8
+387,A0654F,"cabinet door",8
+388,7C6586,"door",8
+389,069916,"door frame",8
+390,08ADE2,"wall",8
+391,D37FB2,"ventilation",8
+392,46A6ED,"unknown",8
+393,4340F7,"faucet",8
+394,C9F278,"floor",9 
+395,97FD52,"ceiling",9
+396,51498A,"wall",9
+397,EBF195,"wall",9
+398,D6E3AC,"wall",9
+399,FFACD0,"wall",9
+400,B093FA,"wall",9
+401,790BE1,"wall",9
+402,87A6FC,"wall",9
+403,D66A93,"wall",9
+404,371413,"wall",9
+405,124708,"wall",9
+406,748E68,"basket",9
+407,D13922,"radiator",9
+408,0E517E,"bench",9
+409,FAB32D,"unknown",9
+410,2843A3,"box",9
+411,9C6115,"box",9
+412,57719C,"box",9
+413,E64D5A,"locker",9
+414,E870B3,"cloth hanger",9
+415,222757,"cloth",9
+416,95F86D,"cloth",9
+417,5BE78B,"cloth",9
+418,9218F3,"cloth",9
+419,E2B42C,"floor mat",9
+420,DE2B97,"floor",10
+421,66E861,"wall",10
+422,BE8F63,"ceiling",10
+423,BDB53E,"shower wall",10
+424,E8DA7E,"shower wall",10
+425,3F0889,"shower floor",10
+426,B5FA0D,"shower cabin",10
+427,4099D3,"door frame",10
+428,574B8C,"floor",11
+429,3E22A3,"ceiling",11
+430,AB6BD7,"wall",11
+431,39991E,"wall",11
+432,A930EA,"toilet",11
+433,9B851B,"toilet paper",11
+434,F65538,"toilet brush",11
+435,0CDC5C,"trashcan",11
+436,4BB97C,"washbasin",11
+437,8ECB9B,"wash cabinet",11
+438,06D388,"door",11
+439,465BA8,"door frame",11
+440,BDDC58,"ventilation",11
+441,E90E23,"cabinet door",11
+442,CC6F6E,"cabinet door",11
+443,9D60EA,"door frame",2
+444,EB39F7,"door frame",2
+445,F82BAC,"door",2
+446,5491FE,"door frame",2
+447,D9AEBE,"door",2
+448,6086F7,"wall",2
+449,0A55A4,"wall",2
+450,A0143E,"wall",2
+451,0181E0,"wall",2
+452,DE590E,"wall",2
+453,1FFB37,"wall",2
+454,8E651B,"wall",2
+455,440213,"wall",2
+456,33252F,"wall",2
+457,BBFCDB,"wall",2
+458,747AC8,"wall",2
+459,5BA16E,"wall",2
+460,36EC4A,"wall",2
+461,9ECC0E,"unknown",2
+462,D18C60,"frame",2
diff --git a/train/00621-SAZ4gvMfxm1/SAZ4gvMfxm1.basis.navmesh b/train/00621-SAZ4gvMfxm1/SAZ4gvMfxm1.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..d5611c5134e47dba4a2cf21d47ed51466b322998
Binary files /dev/null and b/train/00621-SAZ4gvMfxm1/SAZ4gvMfxm1.basis.navmesh differ
diff --git a/train/00625-VWczCD1Hbus/VWczCD1Hbus.basis.navmesh b/train/00625-VWczCD1Hbus/VWczCD1Hbus.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..e2eddca7e5bc23edbac5d4b96460dec7086a19e9
Binary files /dev/null and b/train/00625-VWczCD1Hbus/VWczCD1Hbus.basis.navmesh differ
diff --git a/train/00638-iePHCSf119p/iePHCSf119p.basis.navmesh b/train/00638-iePHCSf119p/iePHCSf119p.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..ce367bcb38b2c8e9064a580fd0878263fd8b4810
Binary files /dev/null and b/train/00638-iePHCSf119p/iePHCSf119p.basis.navmesh differ
diff --git a/train/00638-iePHCSf119p/iePHCSf119p.semantic.txt b/train/00638-iePHCSf119p/iePHCSf119p.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..026b96c755833386c7057470940065897cb0bb78
--- /dev/null
+++ b/train/00638-iePHCSf119p/iePHCSf119p.semantic.txt
@@ -0,0 +1,514 @@
+HM3D Semantic Annotations
+1,4C16FD,"picture",1
+2,825AF5,"ceiling",1
+3,73C7F9,"ceiling",1
+4,1112C2,"smoke detector",1
+5,7BD23E,"attic hatch",1
+6,3999D2,"cabinet",1
+7,C97472,"document",1
+8,B0952F,"document",1
+9,4CA4A1,"document",1
+10,17BF22,"door frame",1
+11,D7874A,"door frame",1
+12,1904D0,"door frame",1
+13,20137C,"door frame",1
+14,23EB42,"door",1
+15,D872BB,"door",1
+16,8DE8BB,"door",1
+17,7324A1,"door",1
+18,EB7935,"wall",1
+19,F6D368,"wall",1
+20,F5EFAC,"wall",1
+21,DCDDD9,"floor",1
+22,71AABB,"wall",1
+23,D46584,"ventilation",1
+24,95416F,"lamp",1
+25,D4A4EF,"lamp",1
+26,7B4883,"smoke detector",2
+27,E57A0E,"ceiling",2
+28,5B6BC9,"antlers",2
+29,D5F575,"bottles",2
+30,9AF379,"camera",2
+31,F4418F,"bottles",2
+32,8E65C9,"bottles",2
+33,78B99B,"unknown",2
+34,0B68ED,"vase",2
+35,F9A26A,"unknown",2
+36,BDCB1E,"vase",2
+37,B80CCF,"mirror",2
+38,133D3E,"board",2
+39,F0AFCF,"plant",2
+40,6FA495,"armchair",2
+41,59939A,"table",2
+42,06D64B,"armchair",2
+43,243492,"cabinet",2
+44,0C243F,"shelf",2
+45,16AD1F,"shelf",2
+46,835734,"lamp",2
+47,189D70,"shelf",2
+48,CE4D37,"wall",2
+49,CCE679,"wall",2
+50,DF2DA3,"wall",2
+51,2FB198,"wall",2
+52,329352,"wall",2
+53,75329B,"wall",2
+54,44B5CC,"wall",2
+55,C25BBC,"carpet",2
+56,227BAE,"window frame",2
+57,2D2A42,"window",2
+58,6F2BA0,"door frame",2
+59,7C7022,"door",2
+60,ED289F,"window frame",2
+61,3423EF,"window",2
+62,75810B,"floor",2
+63,63CBC9,"lamp",2
+64,4A35FC,"ventilation",2
+65,D98E0B,"smoke detector",3
+66,0BE0E6,"fan",3
+67,433695,"camera",3
+68,1CDE31,"ceiling",3
+69,F44B00,"plant",3
+70,A66E4F,"plant",3
+71,D81A20,"poster",3
+72,DEEF23,"photo",3
+73,CEB6D5,"photo",3
+74,2857C1,"photo",3
+75,2492E2,"photo",3
+76,437798,"photo",3
+77,3A12C0,"photo",3
+78,4FDC18,"photo",3
+79,1ECACF,"photo",3
+80,9C4FC8,"photo",3
+81,68B322,"photo",3
+82,78EACB,"sign",3
+83,B640D7,"plant",3
+84,E7C0A1,"highchair",3
+85,5D914A,"menu board",3
+86,D7D0E8,"plant",3
+87,2042DE,"unknown",3
+88,80FA53,"unknown",3
+89,729524,"unknown",3
+90,EB4669,"unknown",3
+91,4099A4,"unknown",3
+92,B6B9C0,"unknown",3
+93,A053D5,"fire alarm",3
+94,4033B3,"leaflets",3
+95,DF214D,"leaflets",3
+96,E241AE,"leaflets",3
+97,8A64BA,"cabinet",3
+98,A42264,"bench",3
+99,430076,"plant",3
+100,4ED1A9,"vase",3
+101,F6C2A7,"figurine",3
+102,7AB0AB,"toy",3
+103,4E4558,"jars",3
+104,20D1BD,"unknown",3
+105,447323,"unknown",3
+106,1BDBB8,"unknown",3
+107,AFA013,"unknown",3
+108,DA10A6,"unknown",3
+109,826500,"menu",3
+110,B1B295,"container",3
+111,4A1049,"shelving",3
+112,469997,"menu board",3
+113,AAC5F4,"menu board",3
+114,D49FB1,"stool",3
+115,3458A8,"stool",3
+116,2C7175,"stool",3
+117,C33ECB,"stool",3
+118,418CA4,"cleaner bottle",3
+119,A6F368,"receipt printer",3
+120,D894C6,"payment terminal",3
+121,1AF3A2,"phone",3
+122,23355E,"tablet",3
+123,D9FA3A,"device",3
+124,C3AAF1,"unknown",3
+125,297562,"document",3
+126,955F9D,"cables",3
+127,7841FE,"cash register",3
+128,9BC978,"sheet",3
+129,79C0FC,"sheet",3
+130,179E9F,"monitor",3
+131,228FDB,"countertop",3
+132,B898C2,"sink",3
+133,EA1399,"countertop",3
+134,C6D45D,"cabinet",3
+135,4708B7,"cabinet",3
+136,43623A,"containers",3
+137,C151C4,"containers",3
+138,41A8A6,"containers",3
+139,AF31E7,"containers",3
+140,BDC59E,"containers",3
+141,FD2BCF,"containers",3
+142,B18AF2,"containers",3
+143,6E4480,"containers",3
+144,30EF5F,"containers",3
+145,115707,"containers",3
+146,1C11A8,"containers",3
+147,D2B884,"containers",3
+148,BBD787,"bottles",3
+149,D4C55A,"bottle",3
+150,D447C0,"menu board",3
+151,A076C9,"bottles",3
+152,EE9F8A,"bottle",3
+153,461EEF,"shelving",3
+154,E817D1,"unknown",3
+155,EEF261,"window",3
+156,5F0D62,"window frame",3
+157,2B57EB,"door",3
+158,8B8FA6,"door frame",3
+159,2AE4BB,"wall",3
+160,15A1F2,"door frame",3
+161,530CDD,"door",3
+162,466DA7,"wall",3
+163,AF6AD1,"wall",3
+164,269A5F,"cabinet",3
+165,3468F6,"door frame",3
+166,7BB66E,"door",3
+167,EC43C5,"wall",3
+168,2F336D,"floor",3
+169,0A575C,"ventilation",3
+170,F608BD,"lamp",3
+171,C66D9F,"lamp",3
+172,EF670E,"lamp",3
+173,474FE3,"air conditioner",4
+174,746BB4,"air conditioner",4
+175,FD7937,"fan",4
+176,6EF4FE,"fan",4
+177,E26A4F,"ceiling",4
+178,A5CA27,"smoke detector",4
+179,08F235,"photo",4
+180,FF0D79,"photo",4
+181,633EBA,"photo",4
+182,900098,"photo",4
+183,AD982C,"photo",4
+184,1BE0A4,"photo",4
+185,44117E,"photo",4
+186,8FA807,"photo",4
+187,D395C6,"photo",4
+188,E4EEB3,"photo",4
+189,5878EB,"photo",4
+190,FF6608,"photo",4
+191,D92073,"photo",4
+192,9BF549,"photo",4
+193,FEC249,"photo",4
+194,8173FD,"photo",4
+195,8D06EF,"photo",4
+196,4804B1,"photo",4
+197,A46B0D,"photo",4
+198,FB9DC9,"photo",4
+199,2E4E85,"photo",4
+200,617095,"photo",4
+201,72A9C5,"photo",4
+202,BD0F5A,"photo",4
+203,9A947F,"photo",4
+204,D58BC0,"photo",4
+205,5C9C1F,"photo",4
+206,56AB04,"photo",4
+207,2376C1,"photo",4
+208,F19D2A,"photo",4
+209,1FAC63,"photo",4
+210,92F23A,"photo",4
+211,AB4217,"photo",4
+212,6E83E9,"wall",4
+213,6ACCE2,"chair",4
+214,8614DA,"chair",4
+215,4AE71B,"chair",4
+216,4FD1B8,"chair",4
+217,C0D54C,"chair",4
+218,6758B0,"chair",4
+219,DDA9DA,"chair",4
+220,A0F943,"chair",4
+221,10E2BE,"chair",4
+222,4EC91C,"chair",4
+223,936C51,"chair",4
+224,70D94E,"chair",4
+225,8A1DEA,"chair",4
+226,F56AFD,"chair",4
+227,F6442A,"chair",4
+228,4CA681,"chair",4
+229,A11911,"chair",4
+230,14E09D,"chair",4
+231,7D5C4C,"chair",4
+232,603EE7,"chair",4
+233,0223DD,"chair",4
+234,9BACDC,"chair",4
+235,8FA5DD,"table",4
+236,CADE62,"table",4
+237,AE75E3,"table",4
+238,CB06C1,"table",4
+239,2E40E9,"table",4
+240,429347,"table",4
+241,EEBBA7,"table",4
+242,745579,"table",4
+243,68B0B5,"table",4
+244,459674,"table",4
+245,0F0800,"table",4
+246,BE9B71,"table",4
+247,35B9F5,"table",4
+248,05E687,"table",4
+249,0FF19D,"table",4
+250,BC9255,"table",4
+251,52F8F2,"table",4
+252,2C430E,"table",4
+253,4598CB,"plant",4
+254,E68AD2,"plant",4
+255,12B686,"cabinet",4
+256,4FC6CA,"bench",4
+257,BB33C5,"bench",4
+258,CBB1F3,"bench",4
+259,D1CA91,"bench",4
+260,29EE19,"bench",4
+261,B33694,"bench",4
+262,5819B6,"bench",4
+263,11B45D,"bench",4
+264,57384D,"bench",4
+265,8A3747,"bench",4
+266,57C3D7,"bench",4
+267,2ED563,"bench",4
+268,B21E18,"sombrero",4
+269,FD0F47,"wall",4
+270,EF7002,"wall",4
+271,DC2103,"wall",4
+272,EB4246,"plant",4
+273,BB454D,"plant",4
+274,138F24,"plant",4
+275,1A4893,"plant",4
+276,ABDB0E,"pot",4
+277,DDA4DC,"plant",4
+278,05E313,"plant",4
+279,AFB351,"plant",4
+280,4E1D4F,"plant",4
+281,C21FE0,"plant",4
+282,31D5AF,"plant",4
+283,B974A7,"plant",4
+284,C35771,"plant",4
+285,72D530,"pot",4
+286,D66D7C,"wall",4
+287,B458B5,"wall",4
+288,7A83E2,"pillar",4
+289,B6D5B2,"pillar",4
+290,7F509A,"pillar",4
+291,36767C,"window frame",4
+292,015C0E,"window",4
+293,CD98F4,"window frame",4
+294,0D5E61,"window",4
+295,BF7B14,"wall",4
+296,373656,"window frame",4
+297,09386D,"window",4
+298,5F7141,"floor",4
+299,CF0C82,"lamp",4
+300,169C1C,"lamp",4
+301,0438A5,"lamp",4
+302,FE709B,"lamp",4
+303,863978,"lamp",4
+304,1139BF,"lamp",4
+305,2500F9,"lamp",4
+306,0D9CD4,"lamp",4
+307,855B05,"lamp",4
+308,CFCCAE,"lamp",4
+309,2A6F27,"lamp",4
+310,3206FD,"lamp",4
+311,EA6215,"lamp",4
+312,96DFED,"lamp",4
+313,297FB7,"lamp",4
+314,724496,"lamp",4
+315,E96143,"lamp",5
+316,099264,"smoke detector",5
+317,B4BB35,"ceiling",5
+318,B98808,"table",5
+319,7AF61F,"table",5
+320,9DED4E,"table",5
+321,EA8897,"table",5
+322,3B2159,"table",5
+323,5C8489,"table",5
+324,621B5C,"armchair",5
+325,7F47A3,"armchair",5
+326,2BD74C,"armchair",5
+327,E75548,"armchair",5
+328,56C212,"armchair",5
+329,470FB3,"armchair",5
+330,6D4688,"pillow",5
+331,7A7D90,"pillow",5
+332,2A01FD,"sofa",5
+333,9AF51C,"bottles",5
+334,A49342,"bottles",5
+335,D8C259,"bottles",5
+336,3BB6DE,"bottles",5
+337,8EF3C5,"bottles",5
+338,379481,"bottles",5
+339,EF09D4,"bottles",5
+340,9F9B84,"wall",5
+341,E76DC5,"bench",5
+342,E98B99,"bench",5
+343,4072C8,"bench",5
+344,23EFD7,"bench",5
+345,10E13D,"sofa",5
+346,445B04,"plant",5
+347,E39E4E,"chair",5
+348,375492,"chair",5
+349,B7C741,"chair",5
+350,E91AD5,"chair",5
+351,224BFF,"table",5
+352,22CD93,"chair",5
+353,7EF609,"chair",5
+354,19E3DD,"chair",5
+355,9F273D,"chair",5
+356,94A8C7,"table",5
+357,60197D,"chair",5
+358,FB7DA7,"chair",5
+359,717100,"chair",5
+360,FD32DD,"chair",5
+361,545E1B,"table",5
+362,622916,"stool",5
+363,3C2D32,"stool",5
+364,11E611,"stool",5
+365,CAC2D6,"stool",5
+366,12E8AA,"stool",5
+367,0E3AA9,"stool",5
+368,541702,"stool",5
+369,7763BA,"stool",5
+370,780567,"stool",5
+371,03B92E,"table",5
+372,46DF85,"chair",5
+373,63F32F,"pot",5
+374,33A1FA,"bench",5
+375,3693FD,"bench",5
+376,F0ED91,"table",5
+377,2B2A3A,"table",5
+378,DC141A,"table",5
+379,4B4CB9,"bench",5
+380,B01FB5,"bench",5
+381,84D46C,"bench",5
+382,6983E1,"bench",5
+383,A2E714,"floor",5
+384,29D997,"shelf",5
+385,C4B1C7,"shelf",5
+386,6064EC,"shelf",5
+387,D7B979,"shelf",5
+388,359942,"shelf",5
+389,BCF6C7,"shelf",5
+390,6DC78B,"shelf",5
+391,EE9DD0,"pillar",5
+392,2CFB54,"pillar",5
+393,F7C536,"window frame",5
+394,F1EDE3,"window",5
+395,496D5D,"window frame",5
+396,F86A8E,"window",5
+397,ADE8F9,"lamp",5
+398,896222,"lamp",5
+399,822627,"lamp",5
+400,826FF1,"ceiling",6
+401,93A721,"bottles",6
+402,8DF5C7,"bottles",6
+403,60A153,"bottles",6
+404,35B1A4,"flower",6
+405,860345,"unknown",6
+406,0B1419,"unknown",6
+407,84F21B,"unknown",6
+408,8A7F78,"unknown",6
+409,4C3F44,"shisha",6
+410,0BF0D0,"shisha",6
+411,9F32C4,"shisha",6
+412,011C0D,"shisha",6
+413,2C77B1,"shisha",6
+414,102BAB,"shisha",6
+415,E1FD1A,"keg",6
+416,D18ADA,"keg",6
+417,BD9974,"bottles",6
+418,CB8F02,"oven",6
+419,F4A1B2,"plates",6
+420,2132A5,"unknown",6
+421,8A24B4,"refrigerator",6
+422,8AD60C,"bottles",6
+423,8D9D3F,"bottles",6
+424,9EBAA1,"bottles",6
+425,600557,"bottles",6
+426,880E9C,"bottles",6
+427,273FFC,"glasses",6
+428,E42BD4,"unknown",6
+429,8CBE50,"unknown",6
+430,B84F0A,"saturator",6
+431,5D7356,"saturator",6
+432,04FC44,"kettle",6
+433,6761B6,"knife",6
+434,617ECB,"cloth",6
+435,A5AFA5,"cutting board",6
+436,D43970,"sink",6
+437,A36FCD,"tap",6
+438,FDCF0E,"cutting board",6
+439,957125,"unknown",6
+440,9782F8,"unknown",6
+441,5ACC47,"coffee machine",6
+442,5FC95E,"box",6
+443,4F6750,"dishes",6
+444,3481C7,"pot",6
+445,80A5A6,"pot",6
+446,64E41A,"can",6
+447,661931,"jars",6
+448,E91AB8,"shelving",6
+449,773219,"countertop",6
+450,7D3B95,"refrigerator",6
+451,E0B8BC,"bottles",6
+452,367044,"bottles",6
+453,87ACDB,"bottles",6
+454,46355C,"bottles",6
+455,80F59B,"bottles",6
+456,BA020C,"bottles",6
+457,7DC11B,"bottles",6
+458,FF4867,"bottles",6
+459,8564B6,"refrigerator",6
+460,48FFB5,"refrigerator",6
+461,A128B8,"refrigerator",6
+462,C4AAA9,"refrigerator",6
+463,A79559,"dishwasher",6
+464,C2C71E,"countertop",6
+465,5B2746,"shelving",6
+466,5EE1C6,"wall",6
+467,A6D3A2,"wall",6
+468,4E03CE,"wall",6
+469,E7C44E,"wall",6
+470,FA444C,"shelving",6
+471,A9C7DA,"shelving",6
+472,2FF475,"shelving",6
+473,13736A,"countertop",6
+474,090BBD,"wall",6
+475,58B3D5,"keg",6
+476,9F650B,"unknown",6
+477,2D5D0B,"gas container",6
+478,A3728E,"container",6
+479,D14BE0,"cutlery",6
+480,B24C64,"spices",6
+481,6DD6DC,"spices",6
+482,8BDCCA,"receipt spike",6
+483,CF81A7,"cash register",6
+484,E483E1,"receipt printer",6
+485,B6D7CE,"pot",6
+486,CAB8BB,"bottles",6
+487,999141,"spray can",6
+488,D26120,"trashcan",6
+489,C4DC4C,"menu",6
+490,F1271F,"box",6
+491,46C0AE,"boxes",6
+492,9E359C,"bowls",6
+493,041D77,"glasses",6
+494,B65925,"bottle opener",6
+495,E36F46,"boxes",6
+496,0CF365,"boxes",6
+497,D92D60,"boxes",6
+498,CA27C9,"boxes",6
+499,FD0F46,"plates",6
+500,2F5F5B,"unknown",6
+501,16901C,"tray",6
+502,21F710,"menu",6
+503,C861B1,"menu",6
+504,F67E25,"countertop",6
+505,D4736D,"shelving",6
+506,D274CD,"wall",6
+507,59648C,"wall",6
+508,2E46D9,"wall",6
+509,DBD389,"shelving",6
+510,BC9ECD,"floor",6
+511,26A50D,"lamp",6
+512,FDEC4E,"lamp",6
+513,54C4FC,"lamp",6
diff --git a/train/00647-qpcpnP8TosR/qpcpnP8TosR.basis.navmesh b/train/00647-qpcpnP8TosR/qpcpnP8TosR.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..0b9368a92a166852fa1d1083d66e1b0b2b746bb5
Binary files /dev/null and b/train/00647-qpcpnP8TosR/qpcpnP8TosR.basis.navmesh differ
diff --git a/train/00652-BcZUZQ9t4Fe/BcZUZQ9t4Fe.basis.navmesh b/train/00652-BcZUZQ9t4Fe/BcZUZQ9t4Fe.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..d3ca60744e970069c1c4cf4e8b7f640d02bd94f6
Binary files /dev/null and b/train/00652-BcZUZQ9t4Fe/BcZUZQ9t4Fe.basis.navmesh differ
diff --git a/train/00676-J5SkB2o1ckv/J5SkB2o1ckv.basis.navmesh b/train/00676-J5SkB2o1ckv/J5SkB2o1ckv.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..de19fbe2e7a017351e2a08a043e0a59b10eb703d
Binary files /dev/null and b/train/00676-J5SkB2o1ckv/J5SkB2o1ckv.basis.navmesh differ
diff --git a/train/00702-wCqnXzoru3X/wCqnXzoru3X.basis.navmesh b/train/00702-wCqnXzoru3X/wCqnXzoru3X.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..7324fd818a7b8d660d21bf9827f4849614e75167
Binary files /dev/null and b/train/00702-wCqnXzoru3X/wCqnXzoru3X.basis.navmesh differ
diff --git a/train/00714-Nf3aGQTDAA1/Nf3aGQTDAA1.basis.navmesh b/train/00714-Nf3aGQTDAA1/Nf3aGQTDAA1.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..9f713198aa2d0a0d264821140fbdde2b33e96516
Binary files /dev/null and b/train/00714-Nf3aGQTDAA1/Nf3aGQTDAA1.basis.navmesh differ
diff --git a/train/00725-5uXtMs57HmZ/5uXtMs57HmZ.basis.navmesh b/train/00725-5uXtMs57HmZ/5uXtMs57HmZ.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..56050e41cf6510261f583b2798c6ffee08ae1813
Binary files /dev/null and b/train/00725-5uXtMs57HmZ/5uXtMs57HmZ.basis.navmesh differ
diff --git a/train/00737-ZhXWtW1gd6c/ZhXWtW1gd6c.basis.navmesh b/train/00737-ZhXWtW1gd6c/ZhXWtW1gd6c.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..bb1f14cf55cc923741a3a00952e00c605d5778e4
Binary files /dev/null and b/train/00737-ZhXWtW1gd6c/ZhXWtW1gd6c.basis.navmesh differ
diff --git a/train/00742-aYhkzj2fEhP/aYhkzj2fEhP.basis.navmesh b/train/00742-aYhkzj2fEhP/aYhkzj2fEhP.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..da1cd119f2253b572eeee5bbcc964d69ba05c705
Binary files /dev/null and b/train/00742-aYhkzj2fEhP/aYhkzj2fEhP.basis.navmesh differ
diff --git a/train/00745-yX5efd48dLf/yX5efd48dLf.basis.navmesh b/train/00745-yX5efd48dLf/yX5efd48dLf.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..3f8af58fb35b6c28e718349fc736601f4511ad7c
Binary files /dev/null and b/train/00745-yX5efd48dLf/yX5efd48dLf.basis.navmesh differ
diff --git a/train/00745-yX5efd48dLf/yX5efd48dLf.semantic.txt b/train/00745-yX5efd48dLf/yX5efd48dLf.semantic.txt
new file mode 100644
index 0000000000000000000000000000000000000000..80fdebe44d4627f91eccbb67468813c4a1d8dbb8
--- /dev/null
+++ b/train/00745-yX5efd48dLf/yX5efd48dLf.semantic.txt
@@ -0,0 +1,504 @@
+HM3D Semantic Annotations
+1,F2E7A1,"ceiling",0
+2,97B5AC,"ceiling lamp",0
+3,D1391C,"ceiling molding",0
+4,936C44,"painting",0
+5,AADEF8,"chair",0
+6,88B792,"painting",0
+7,5510C6,"decoration",0
+8,7283A8,"pillow",0
+9,73CF27,"pillow",0
+10,DD4A6B,"pillow",0
+11,A57F18,"bed comforter",0
+12,BED068,"door frame",0
+13,A59B3B,"door",0
+14,49D609,"switch",0
+15,BBB692,"window",0
+16,60BD85,"window",0
+17,A8AB14,"window",0
+18,2F88FE,"bedside lamp",0
+19,80A22B,"vase",0
+20,08BCBE,"window frame",0
+21,9E8DD1,"floor",0
+22,01BDB5,"nightstand",0
+23,A24139,"pillow",0
+24,F7D3AA,"armchair",0
+25,F3B71E,"unknown",0
+26,439A4A,"door",0
+27,EBF9EA,"mirror",0
+28,D07258,"door",0
+29,96B8DC,"pillow",0
+30,EBA44E,"cuddly toy",0
+31,A8CCE6,"armchair",0
+32,70424E,"mirror",0
+33,0305AD,"window frame",0
+34,9BC42E,"wall",0
+35,A4B2AF,"wall",0
+36,FC3C5B,"wall",0
+37,0876EC,"wall",0
+38,43E449,"wall",0
+39,D9B961,"wall",0
+40,881A3F,"wall",0
+41,D29166,"window frame",0
+42,E01ADE,"window curtain",0
+43,93E57C,"window curtain",0
+44,8A8D8D,"window curtain",0
+45,1E49AC,"window curtain",0
+46,B1740E,"recessed wall",2
+47,897DB6,"ceiling lamp",2
+48,103580,"ceiling",2
+49,E74B77,"ceiling molding",2
+50,4A25CC,"painting",2
+51,5ABC96,"picture",2
+52,59172F,"picture",2
+53,E537B3,"picture",2
+54,556362,"picture",2
+55,131C6A,"wall lamp",2
+56,C78C71,"air conditioner",2
+57,CA4E24,"pillow",2
+58,931FA2,"pillow",2
+59,F2E519,"pillow",2
+60,880350,"basket",2
+61,00265B,"couch",2
+62,C85514,"pouffe",2
+63,F4BFB3,"stool",2
+64,932B18,"window glass",2
+65,F70A5D,"decorative plant",2
+66,66634F,"pillow",2
+67,69807F,"armchair",2
+68,DE54A4,"decorative plate",2
+69,87BAAE,"decorative plate",2
+70,25C44C,"decorative plate",2
+71,98A18E,"hearth",2
+72,9C93D6,"hearth",2
+73,3C85BC,"hearth",2
+74,A2C592,"picture",2
+75,F9B66F,"decorative plate",2
+76,DD6EAE,"figure",2
+77,108C93,"unknown",2
+78,CBE1A6,"figure",2
+79,DE1728,"mirror",2
+80,189469,"mirror frame",2
+81,77671F,"fireplace",2
+82,6D8294,"clock",2
+83,473C73,"flower vase",2
+84,AB1AE4,"bouquet",2
+85,9ECEDA,"door frame",2
+86,9F6BF1,"wall",2
+87,D141BA,"wall",2
+88,FE0858,"wall",2
+89,487C86,"wall",2
+90,7BF1DB,"window glass",2
+91,8724FF,"window glass",2
+92,A4D821,"door window",2
+93,170C47,"door",2
+94,09AEA0,"wall",2
+95,7FC704,"wall",2
+96,1F4DFD,"floor",2
+97,8AD425,"window curtain",2
+98,8C8B1C,"wall",2
+99,32B717,"wall",2
+100,8DA79C,"table",2
+101,E609C6,"window frame",2
+102,6C95EB,"window frame",2
+103,BD7C25,"window curtain",2
+104,EBF13D,"window curtain",2
+105,54C9F1,"window curtain",2
+106,349CD3,"window frame",2
+107,13EA42,"curtain rod",2
+108,5EF334,"curtain rod",2
+109,932AB9,"curtain rod",2
+110,FF959E,"window curtain",2
+111,2EB736,"curtain rod",2
+112,7AF7F8,"curtain",2
+113,0E864B,"painting",3
+114,89F4E5,"painting",3
+115,08365D,"window glass",3
+116,D618F2,"window glass",3
+117,C11C47,"painting",3
+118,C42F13,"painting",3
+119,11CA36,"painting",3
+120,4D364D,"painting",3
+121,00A3A0,"picture",3
+122,0D99BD,"painting",3
+123,439AAD,"decorative plate",3
+124,953AC6,"decorative plate",3
+125,81A59F,"picture",3
+126,390E66,"decoration",3
+127,68700E,"unknown",3
+128,74CF38,"decoration",3
+129,5315A3,"chest of drawers",3
+130,798FEC,"pillow",3
+131,E44607,"armchair",3
+132,17439D,"fireplace",3
+133,80E289,"rug",3
+134,E81A12,"rug",3
+135,5EE039,"floor",3
+136,84D9E3,"appliance",3
+137,44FDDE,"stand",3
+138,4B7808,"door frame",3
+139,170D75,"ceiling lamp",3
+140,F66DE2,"ceiling",3
+141,182E61,"ceiling",3
+142,934E8E,"ceiling molding",3
+143,DE34F7,"ceiling molding",3
+144,2B3D0D,"door frame",3
+145,313571,"wall",3
+146,D729E5,"wall",3
+147,4B3AE8,"wall",3
+148,86BBAE,"wall",3
+149,66A222,"wall",3
+150,116827,"wall",3
+151,FB43FA,"wall",3
+152,6C951D,"wall lamp",3
+153,90BE2F,"door",3
+154,7A3369,"floor",3
+155,5DCC58,"wall",3
+156,705091,"wall",3
+157,EFA0BC,"wall",3
+158,A587D0,"fireplace wall",3
+159,D02F23,"unknown",3
+160,AA52E5,"shelf",3
+161,1C10B9,"column",3
+162,AD9AC0,"column",3
+163,DE7F22,"fireplace tool set",3
+164,72BF08,"wall",3
+165,0FBEAF,"window frame",3
+166,508D0F,"curtain rod",3
+167,23F234,"window curtain",3
+168,FB0D21,"window curtain",3
+169,13833D,"window frame",3
+170,14D599,"wall",3
+171,4C69B4,"curtain rod",3
+172,18D172,"curtain",3
+173,7F84A4,"curtain",3
+174,BE2746,"bowl",3
+175,0C2C94,"picture",3
+176,33889D,"cabinet",3
+177,76DDB7,"chair",3
+178,47721D,"chair",3
+179,3E07A4,"chair",3
+180,471980,"chair",3
+181,76DED8,"table",3
+182,F2CD5F,"floor",4
+183,10C3D3,"oven",4
+184,0D364E,"sink",4
+185,51EC83,"faucet",4
+186,99AAFA,"window glass",4
+187,757163,"window frame",4
+188,16577E,"knife holder",4
+189,0CCCCA,"window glass",4
+190,A2617F,"window frame",4
+191,E63212,"picture",4
+192,B37F80,"wall",4
+193,F4873E,"kitchen extractor",4
+194,514A01,"bowl of fruit",4
+195,DEC3F8,"microwave",4
+196,254F2C,"pot",4
+197,C72237,"pot",4
+198,815380,"vessel",4
+199,9306D4,"vessel",4
+200,8DC2E6,"vessel",4
+201,0D4B93,"kettle",4
+202,FCC968,"vessel",4
+203,9812A2,"container",4
+204,2B0D1F,"container",4
+205,A6A7C4,"container",4
+206,1808AB,"kettle",4
+207,22E64A,"kitchen appliance",4
+208,A2C91C,"kitchen appliance",4
+209,B276CF,"kitchen countertop item",4
+210,74EB4F,"ceiling lamp",4
+211,38204D,"ceiling",4
+212,CE2582,"ceiling",4
+213,6C42FC,"wall",4
+214,4FF21B,"wall",4
+215,416CCE,"wall",4
+216,6769E8,"wall",4
+217,910A1A,"wall",4
+218,E332EB,"wall",4
+219,38D194,"kitchen top",4
+220,24B763,"kitchen top",4
+221,5C2636,"kitchen top",4
+222,F21C70,"dishwasher",4
+223,3BEB1F,"kitchen lower cabinet",4
+224,DDE4A2,"kitchen lower cabinet",4
+225,7DE65F,"kitchen lower cabinet",4
+226,28B348,"kitchen lower cabinet",4
+227,14156C,"kitchen lower cabinet",4
+228,7AD6B3,"kitchen lower cabinet",4
+229,6D08EF,"kitchen lower cabinet",4
+230,CD2EEE,"kitchen lower cabinet",4
+231,9C2B3F,"stove",4
+232,53613C,"kitchen lower cabinet",4
+233,DB2BD5,"kitchen cabinet",4
+234,5A6A81,"kitchen cabinet",4
+235,C9C715,"refrigerator",4
+236,33117E,"kitchen cabinet",4
+237,B5F6B5,"kitchen cabinet",4
+238,86E7A7,"kitchen cabinet",4
+239,6DA4F5,"kitchen cabinet",4
+240,084DED,"picture",4
+241,3B79B3,"ceiling",1
+242,6F533D,"beam",1
+243,A54724,"beam",1
+244,44541B,"beam",1
+245,86F018,"beam",1
+246,6E4410,"painting",1
+247,649B9D,"painting",1
+248,148ADC,"painting",1
+249,D008AD,"painting frame",1
+250,130EF5,"painting",1
+251,A095AD,"basket",1
+252,9718AB,"mirror",1
+253,C4CDA6,"door frame",1
+254,053CC6,"wall",1
+255,1E89CF,"frame",1
+256,DA3DB0,"door window",1
+257,A9CCFE,"door window",1
+258,A701A3,"door",1
+259,00155E,"casket",1
+260,337ED1,"decoration",1
+261,370123,"lamp stand",1
+262,425688,"decoration",1
+263,DF2D50,"decoration",1
+264,C90E86,"wall",1
+265,F01096,"wall",1
+266,13B334,"cuddly toy",1
+267,CB7717,"floor",1
+268,47A89B,"decoration",1
+269,D93069,"chest of drawers",1
+270,F60F05,"wall",1
+271,60CEA7,"door",1
+272,9202D0,"ceiling",5
+273,AEC3A3,"air conditioner",5
+274,1C7110,"unknown",5
+275,0ECC20,"bathroom towel",5
+276,21059E,"bathroom cabinet",5
+277,C09D7C,"washing stuff",5
+278,A1B119,"mirror",5
+279,A90612,"shelf cubby",5
+280,9F0932,"wall",5
+281,3924BA,"bathroom towel",5
+282,CE168A,"unknown",5
+283,1C7BED,"sink cabinet",5
+284,7D502D,"rug",5
+285,593CFB,"floor",5
+286,637B5F,"door frame",5
+287,6AC5B4,"shower-bath cabinet",5
+288,AE00B2,"shower knob",5
+289,55E391,"shower rail",5
+290,748BCE,"wall",5
+291,E1D27C,"wall",5
+292,C3DE47,"wall",5
+293,B99DB9,"wardrobe",5
+294,F1BD70,"bag",5
+295,D42D16,"door",5
+296,6E704E,"wall",5
+297,8225FD,"wall",5
+298,019798,"wall",5
+299,C59F9C,"bathroom towel",5
+300,D7E3FB,"bathroom towel",5
+301,9E2C91,"wall",5
+302,7C6DA0,"wall",5
+303,1BD304,"frame",5
+304,A06B5E,"wall",5
+305,F3ADC8,"painting",7
+306,BDD4D6,"painting",7
+307,6140D9,"picture",7
+308,9851C8,"picture",7
+309,B4AFCD,"painting",7
+310,79A396,"painting",7
+311,240F10,"ceiling",7
+312,7587A6,"beam",7
+313,B179B3,"beam",7
+314,F5C213,"beam",7
+315,EB7B2D,"beam",7
+316,785FE0,"beam",7
+317,66E53A,"ceiling lamp",7
+318,A8C6C9,"door frame",7
+319,AAC34B,"frame",7
+320,53B9B2,"floor",7
+321,C598A6,"door",7
+322,A7BC6C,"door frame",7
+323,5ECDF3,"door frame",7
+324,F49B12,"wall",7
+325,CB89CA,"wall",7
+326,914890,"wall",7
+327,E45FCA,"wall",7
+328,C8E3F3,"wall",7
+329,C42EFA,"wall",7
+330,955D76,"wall",7
+331,A3DBC8,"unknown",8
+332,2BFCDF,"painting",8
+333,F47050,"chest",8
+334,7FFE71,"window glass",8
+335,A2AFA3,"window frame",8
+336,A0225F,"window curtain",8
+337,2D8D46,"window curtain",8
+338,59176B,"bedside lamp",8
+339,3574BE,"nightstand",8
+340,8CF758,"pillow",8
+341,00074C,"pillow",8
+342,CC23F9,"pillow",8
+343,643C84,"picture",8
+344,28734D,"picture",8
+345,1E5A1A,"unknown",8
+346,BFB316,"picture",8
+347,C622C2,"picture",8
+348,370226,"desk",8
+349,C263C8,"cloth",8
+350,AD1417,"stick",8
+351,3E0ACF,"clothes",8
+352,157C4D,"door",8
+353,73C323,"cloth",8
+354,FEB933,"guitar",8
+355,FDEFD1,"clothes",8
+356,226A8F,"luggage",8
+357,85A2C6,"backpack",8
+358,8DEDC4,"clothes",8
+359,F4C227,"cabinet",8
+360,BC0A8D,"sconce",8
+361,B710BD,"floor",8
+362,52F66C,"bed",8
+363,738A05,"door",8
+364,289EB0,"door frame",8
+365,1B1109,"ceiling",8
+366,19F09D,"ceiling molding",8
+367,B86B78,"wall",8
+368,2BB3CD,"wall",8
+369,3CD89E,"wall",8
+370,AD8ECB,"wall",8
+371,FF6FC6,"picture",9
+372,654544,"picture",9
+373,D29BF9,"picture",9
+374,B8A836,"picture",9
+375,33F028,"mirror",9
+376,40E2E1,"mirror",9
+377,F37DA6,"pillow",9
+378,5EC45F,"pillow",9
+379,AAFCFC,"pillow",9
+380,187DF7,"lounge chair",9
+381,BDCAC5,"frame",9
+382,C0207C,"ceiling lamp",9
+383,BBBDE7,"ceiling",9
+384,CDE056,"ceiling molding",9
+385,80B23F,"window glass",9
+386,79DE6C,"window frame",9
+387,FB3140,"floor",9
+388,55EA23,"bouquet",9
+389,B98378,"flower vase",9
+390,F2A4EC,"unknown",9
+391,6B5988,"decoration",9
+392,DEA809,"chest of drawers",9
+393,E5F832,"basket",9
+394,76F915,"cabinet",9
+395,4D918D,"cabinet",9
+396,535311,"door",9
+397,E23196,"wall",9
+398,5B3412,"wall",9
+399,E400D9,"switch",9
+400,47801A,"curtain rod",9
+401,474D57,"wall",9
+402,A37C77,"wall",9
+403,B1124C,"wall",9
+404,10F742,"window curtain",9
+405,D1BFB1,"window curtain",9
+406,34D978,"pillow",10
+407,165C44,"pillow",10
+408,A72361,"ceiling",10
+409,8ED084,"ceiling molding",10
+410,9B77B1,"painting",10
+411,C47286,"painting",10
+412,370E86,"decoration",10
+413,A2032F,"pillow",10
+414,2EEB5E,"pillow",10
+415,A8AC0E,"pillow",10
+416,9C8AF8,"pillow",10
+417,EA154F,"pillow",10
+418,52B5DB,"pillow",10
+419,AA4193,"telephone",10
+420,4B6F94,"nightstand",10
+421,D514E7,"chest of drawers",10
+422,9E3BF0,"mirror",10
+423,0F2026,"cabinet",10
+424,5C52E2,"window glass",10
+425,2C36BF,"window frame",10
+426,FF9F31,"blanket",10
+427,5E7A76,"bed comforter",10
+428,2A770F,"window glass",10
+429,A2E233,"window frame",10
+430,B98858,"wall",10
+431,0768BE,"wall",10
+432,57EC51,"wall",10
+433,0B2976,"floor",10
+434,D47C38,"wall",10
+435,B6F44C,"curtain rod",10
+436,313BA2,"window curtain",10
+437,9E5642,"window curtain",10
+438,DCEAFB,"window curtain",10
+439,18D614,"window curtain",10
+440,7EE582,"ceiling lamp",11
+441,F9ED00,"ceiling",11
+442,460B00,"painting",11
+443,2BA674,"door window",11
+444,981019,"door frame",11
+445,AC0C80,"rug",11
+446,12417A,"floor",11
+447,03C256,"picture",11
+448,E8C53F,"wall",11
+449,A2C182,"hat",11
+450,9F92B8,"door",11
+451,956812,"decoration",11
+452,6BF8D1,"decoration",11
+453,E48D39,"decoration",11
+454,10968E,"wall",11
+455,954BF6,"frame",11
+456,0405A2,"unknown",11
+457,41D6B5,"door",11
+458,1CB505,"door frame",11
+459,BDD271,"wall",11
+460,506DE6,"wall",11
+461,66C749,"book",11
+462,02DBCA,"book",11
+463,C1E56E,"book",11
+464,89679F,"book",11
+465,B13248,"book",11
+466,6E758D,"book",11
+467,77B62F,"book",11
+468,DD4183,"book",11
+469,BD28D7,"book",11
+470,68D102,"book",11
+471,9CC05D,"book rack",11
+472,0A247F,"book rack",11
+473,E66DE2,"patio chair",6
+474,F91830,"patio chair",6
+475,F4FAFF,"patio chair",6
+476,55F79F,"patio chair",6
+477,3CBD12,"patio floor",6
+478,F5EA11,"stairs",6
+479,979194,"stairs",6
+480,5A56AE,"floor mat",6
+481,53242F,"patio floor",6
+482,8169DE,"wall",6
+483,6B32EC,"wall",6
+484,F424CB,"patio floor",6
+485,347A0C,"roof",6
+486,2097D9,"unknown",2
+487,95D4B4,"unknown",2
+488,E3CCD0,"tv",2
+489,A9E8FF,"cabinet",2
+490,1B1D62,"shelf",2
+491,CFF2BC,"fireplace wall",2
+492,452DB0,"fireplace wall",2
+493,71F71F,"fireplace wall",2
+494,4C9A12,"floor",2
+495,27F697,"unknown",3
+496,8C71E2,"unknown",3
+497,50B2F2,"wall",3
+498,0D17CB,"floor mat",6
+499,6BCB7E,"painting",8
+500,A51F65,"jewelry",9
+501,BCFA50,"mirror",9
+502,EA0B16,"glass",9
+503,07781E,"curtain rod",10
diff --git a/train/00754-EqZacbtdApE/EqZacbtdApE.basis.navmesh b/train/00754-EqZacbtdApE/EqZacbtdApE.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..43ed472150b9d5b34a054cbf14fc981bdbb6d9b4
Binary files /dev/null and b/train/00754-EqZacbtdApE/EqZacbtdApE.basis.navmesh differ
diff --git a/train/00787-S9M7ybC5ZHu/S9M7ybC5ZHu.basis.navmesh b/train/00787-S9M7ybC5ZHu/S9M7ybC5ZHu.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..c43039da075081e6b241ec8f585f1638f36dad8a
Binary files /dev/null and b/train/00787-S9M7ybC5ZHu/S9M7ybC5ZHu.basis.navmesh differ
diff --git a/train/00790-qQgcM8T4hiD/qQgcM8T4hiD.basis.navmesh b/train/00790-qQgcM8T4hiD/qQgcM8T4hiD.basis.navmesh
new file mode 100644
index 0000000000000000000000000000000000000000..23711de9bdb61972aff81b29c5fb306fba78a046
Binary files /dev/null and b/train/00790-qQgcM8T4hiD/qQgcM8T4hiD.basis.navmesh differ