{
  "room_size": [
    20.0,
    20.0
  ],
  "screen_size": [
    768,
    768
  ],
  "seed": 7181,
  "min_distance": 1.42,
  "objects": [
    {
      "object_id": 5745148,
      "model": "shoes1",
      "name": "shoes1",
      "label": "1",
      "pos": {
        "x": -6.0,
        "y": 0.05,
        "z": 2.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        1.058832051,
        0.8461599630000001
      ],
      "attributes": {
        "scale": 3,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "north"
      }
    },
    {
      "object_id": 8401634,
      "model": "teddybear4",
      "name": "teddybear",
      "label": "2",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -1.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.00497947,
        0.0049180043925
      ],
      "attributes": {
        "scale": 0.25,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "east"
      }
    },
    {
      "object_id": 4177241,
      "model": "backpack4",
      "name": "backpack",
      "label": "3",
      "pos": {
        "x": -3.0,
        "y": 0.05,
        "z": 0.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.00617001098,
        0.007094854
      ],
      "attributes": {
        "scale": 0.004,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "south"
      }
    },
    {
      "object_id": 1715886,
      "model": "bicycle2",
      "name": "bicycle",
      "label": "4",
      "pos": {
        "x": -3.0,
        "y": 0.16999999999999998,
        "z": 3.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.01210841416,
        0.010852398800000001
      ],
      "attributes": {
        "scale": 0.005,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "south"
      }
    },
    {
      "object_id": 6406800,
      "model": "dog1",
      "name": "dog",
      "label": "5",
      "pos": {
        "x": -5.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.002816867865,
        0.011182001265
      ],
      "attributes": {
        "scale": 0.0015,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 5589832,
      "model": "cap2",
      "name": "cap",
      "label": "6",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -5.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.00680897315,
        0.010689174999999999
      ],
      "attributes": {
        "scale": 0.35,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "east"
      }
    },
    {
      "object_id": 9706645,
      "model": "vase_05",
      "name": "vase",
      "label": "7",
      "pos": {
        "x": -2.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.45257705000000004,
        0.452524
      ],
      "attributes": {
        "scale": 2.5,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 1045879,
      "model": "fridge_large",
      "name": "fridge",
      "label": "8",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -8.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.4559158,
        0.39067385
      ],
      "attributes": {
        "scale": 0.5,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 2509078,
      "model": "scooter2",
      "name": "scooter",
      "label": "9",
      "pos": {
        "x": -2.0,
        "y": 0.05,
        "z": -6.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.005006981848,
        0.01102899836
      ],
      "attributes": {
        "scale": 0.004,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 20161,
      "model": "red_door",
      "name": "red door",
      "pos": {
        "x": -5.0,
        "y": 0,
        "z": -2.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        1,
        2.0
      ],
      "attributes": {
        "color": "red",
        "orientation": "horizontal",
        "connected_rooms": [
          1,
          2
        ]
      }
    }
  ],
  "cameras": [
    {
      "id": "agent",
      "label": "A",
      "position": {
        "x": -7.0,
        "y": 0.85,
        "z": 4.0
      },
      "rotation": {
        "y": 0.0
      }
    },
    {
      "id": "5745148",
      "label": "1",
      "position": {
        "x": -6.0,
        "y": 0.8,
        "z": 2.0
      },
      "rotation": {
        "y": 108.43494882292202
      }
    },
    {
      "id": "8401634",
      "label": "2",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "rotation": {
        "y": 81.86989764584403
      }
    },
    {
      "id": "4177241",
      "label": "3",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": 0.0
      },
      "rotation": {
        "y": 90.0
      }
    },
    {
      "id": "1715886",
      "label": "4",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": 3.0
      },
      "rotation": {
        "y": 135.0
      }
    },
    {
      "id": "6406800",
      "label": "5",
      "position": {
        "x": -5.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": 51.34019174590991
      }
    },
    {
      "id": "5589832",
      "label": "6",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -5.0
      },
      "rotation": {
        "y": 54.46232220802562
      }
    },
    {
      "id": "9706645",
      "label": "7",
      "position": {
        "x": -2.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": 26.56505117707799
      }
    },
    {
      "id": "1045879",
      "label": "8",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -8.0
      },
      "rotation": {
        "y": 41.18592516570965
      }
    },
    {
      "id": "2509078",
      "label": "9",
      "position": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "rotation": {
        "y": 18.43494882292201
      }
    },
    {
      "id": "20161",
      "label": "D20161",
      "position": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "rotation": {
        "y": 0.0
      }
    }
  ],
  "images": [
    {
      "file": "top_down.png",
      "cam_id": "top_down",
      "pos": {
        "x": 0,
        "y": 20,
        "z": 0
      },
      "direction": "down",
      "object_ratios": []
    },
    {
      "file": "top_down_annotated.png",
      "cam_id": "top_down_annotated",
      "pos": {
        "x": 0,
        "y": 20,
        "z": 0
      },
      "direction": "down",
      "object_ratios": []
    },
    {
      "file": "agent_facing_north.png",
      "cam_id": "agent",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "agent_facing_east.png",
      "cam_id": "agent",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.154,
          "occlusion_ratio": 1.0
        },
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_south.png",
      "cam_id": "agent",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.846,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_west.png",
      "cam_id": "agent",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "5745148_facing_north.png",
      "cam_id": "5745148",
      "pos": {
        "x": -6.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "5745148_facing_east.png",
      "cam_id": "5745148",
      "pos": {
        "x": -6.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5745148_facing_south.png",
      "cam_id": "5745148",
      "pos": {
        "x": -6.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5745148_facing_west.png",
      "cam_id": "5745148",
      "pos": {
        "x": -6.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "8401634_facing_north.png",
      "cam_id": "8401634",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.994,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "8401634_facing_east.png",
      "cam_id": "8401634",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "8401634_facing_south.png",
      "cam_id": "8401634",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "8401634_facing_west.png",
      "cam_id": "8401634",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "4177241_facing_north.png",
      "cam_id": "4177241",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.154,
          "occlusion_ratio": 1.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4177241_facing_east.png",
      "cam_id": "4177241",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "4177241_facing_south.png",
      "cam_id": "4177241",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "4177241_facing_west.png",
      "cam_id": "4177241",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.846,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1715886_facing_north.png",
      "cam_id": "1715886",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "1715886_facing_east.png",
      "cam_id": "1715886",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "1715886_facing_south.png",
      "cam_id": "1715886",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1715886_facing_west.png",
      "cam_id": "1715886",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 0.994,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6406800_facing_north.png",
      "cam_id": "6406800",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "6406800_facing_east.png",
      "cam_id": "6406800",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 9706645,
          "model": "vase_05",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2509078,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6406800_facing_south.png",
      "cam_id": "6406800",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1045879,
          "model": "fridge_large",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6406800_facing_west.png",
      "cam_id": "6406800",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5589832,
          "model": "cap2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5589832_facing_north.png",
      "cam_id": "5589832",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -5.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "5589832_facing_east.png",
      "cam_id": "5589832",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -5.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 6406800,
          "model": "dog1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9706645,
          "model": "vase_05",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2509078,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5589832_facing_south.png",
      "cam_id": "5589832",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -5.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1045879,
          "model": "fridge_large",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5589832_facing_west.png",
      "cam_id": "5589832",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -5.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "9706645_facing_north.png",
      "cam_id": "9706645",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "9706645_facing_east.png",
      "cam_id": "9706645",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "9706645_facing_south.png",
      "cam_id": "9706645",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 2509078,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9706645_facing_west.png",
      "cam_id": "9706645",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 6406800,
          "model": "dog1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5589832,
          "model": "cap2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1045879,
          "model": "fridge_large",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1045879_facing_north.png",
      "cam_id": "1045879",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 6406800,
          "model": "dog1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5589832,
          "model": "cap2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1045879_facing_east.png",
      "cam_id": "1045879",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 9706645,
          "model": "vase_05",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2509078,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1045879_facing_south.png",
      "cam_id": "1045879",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "1045879_facing_west.png",
      "cam_id": "1045879",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "2509078_facing_north.png",
      "cam_id": "2509078",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 9706645,
          "model": "vase_05",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "2509078_facing_east.png",
      "cam_id": "2509078",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "2509078_facing_south.png",
      "cam_id": "2509078",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "2509078_facing_west.png",
      "cam_id": "2509078",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 6406800,
          "model": "dog1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5589832,
          "model": "cap2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1045879,
          "model": "fridge_large",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_north.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 5745148,
          "model": "shoes1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1715886,
          "model": "bicycle2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_east.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4177241,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_south.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "20161_facing_west.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 8401634,
          "model": "teddybear4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_north.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "20161_facing_east.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 9706645,
          "model": "vase_05",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_south.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 6406800,
          "model": "dog1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5589832,
          "model": "cap2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1045879,
          "model": "fridge_large",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2509078,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20161_facing_west.png",
      "cam_id": "20161",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "west",
      "object_ratios": []
    }
  ],
  "rooms": {
    "1": {
      "center": [
        -4.5,
        1.5
      ],
      "bounds": [
        -7.5,
        -1.5,
        -1.5,
        4.5
      ],
      "area": 36,
      "connected_rooms": [
        2
      ]
    },
    "2": {
      "center": [
        -4.5,
        -5.5
      ],
      "bounds": [
        -7.5,
        -1.5,
        -8.5,
        -2.5
      ],
      "area": 36,
      "connected_rooms": [
        1
      ]
    }
  },
  "doors": {
    "101": {
      "center": [
        -5.0,
        -2.0
      ],
      "color": "red",
      "connected_rooms": [
        1,
        2
      ],
      "orientation": "horizontal",
      "width": 1
    }
  },
  "room_object_assignments": {
    "1": [
      {
        "object_id": 5745148,
        "name": "shoes1",
        "label": "1"
      },
      {
        "object_id": 8401634,
        "name": "teddybear",
        "label": "2"
      },
      {
        "object_id": 4177241,
        "name": "backpack",
        "label": "3"
      },
      {
        "object_id": 1715886,
        "name": "bicycle",
        "label": "4"
      }
    ],
    "2": [
      {
        "object_id": 6406800,
        "name": "dog",
        "label": "5"
      },
      {
        "object_id": 5589832,
        "name": "cap",
        "label": "6"
      },
      {
        "object_id": 9706645,
        "name": "vase",
        "label": "7"
      },
      {
        "object_id": 1045879,
        "name": "fridge",
        "label": "8"
      },
      {
        "object_id": 2509078,
        "name": "scooter",
        "label": "9"
      }
    ]
  },
  "mask": [
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      101,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ]
  ],
  "offset": [
    10,
    10
  ],
  "validated_tasks": [
    "rot",
    "rot_dual",
    "dir",
    "pov",
    "e2a",
    "fwd_loc",
    "bwd_loc",
    "false_belief",
    "fwd_fov",
    "bwd_nav",
    "bwd_pov"
  ]
}