{
  "room_size": [
    20.0,
    20.0
  ],
  "screen_size": [
    768,
    768
  ],
  "seed": 3560,
  "min_distance": 1.42,
  "objects": [
    {
      "object_id": 9519936,
      "model": "dog2",
      "name": "dog",
      "label": "1",
      "pos": {
        "x": -5.0,
        "y": 0.05,
        "z": -6.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.0022934808000000004,
        0.011447361912
      ],
      "attributes": {
        "scale": 0.008,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "east"
      }
    },
    {
      "object_id": 1122465,
      "model": "desklamp3",
      "name": "desklamp",
      "label": "2",
      "pos": {
        "x": -3.0,
        "y": 0.05,
        "z": -3.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.007714147120000001,
        0.002
      ],
      "attributes": {
        "scale": 0.1,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "north"
      }
    },
    {
      "object_id": 9544191,
      "model": "dining_room_table",
      "name": "table",
      "label": "3",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -7.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.5461,
        0.5461
      ],
      "attributes": {
        "scale": 0.5,
        "has_orientation": false,
        "room_id": 1
      }
    },
    {
      "object_id": 2049101,
      "model": "lego2",
      "name": "lego man",
      "label": "4",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.00622019961,
        0.00264216615
      ],
      "attributes": {
        "scale": 0.015,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "south"
      }
    },
    {
      "object_id": 4697970,
      "model": "alarm_clock",
      "name": "alarmclock",
      "label": "5",
      "pos": {
        "x": 3.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.5665459500000001,
        0.52468341
      ],
      "attributes": {
        "scale": 3.0,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 1692034,
      "model": "toilet2",
      "name": "toilet",
      "label": "6",
      "pos": {
        "x": 4.0,
        "y": 0.05,
        "z": -7.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.003413068096,
        0.00705007744
      ],
      "attributes": {
        "scale": 0.002,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 9821436,
      "model": "b03_basket",
      "name": "basket",
      "label": "7",
      "pos": {
        "x": 0.0,
        "y": 0.05,
        "z": -9.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.4791392,
        0.4832616
      ],
      "attributes": {
        "scale": 1.0,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 6685795,
      "model": "flat_woven_rug",
      "name": "rug",
      "label": "8",
      "pos": {
        "x": 1.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.9144,
        1.3716
      ],
      "attributes": {
        "scale": 0.5,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 6013434,
      "model": "airplane3",
      "name": "airplane",
      "label": "9",
      "pos": {
        "x": 2.0,
        "y": 0.05,
        "z": -9.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.010572741696,
        0.010453868832000002
      ],
      "attributes": {
        "scale": 0.0008,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 20023,
      "model": "yellow_door",
      "name": "yellow door",
      "pos": {
        "x": -2.0,
        "y": 0,
        "z": -6.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        1,
        2.0
      ],
      "attributes": {
        "color": "yellow",
        "orientation": "vertical",
        "connected_rooms": [
          1,
          2
        ]
      }
    }
  ],
  "cameras": [
    {
      "id": "agent",
      "label": "A",
      "position": {
        "x": -5.0,
        "y": 0.85,
        "z": -8.0
      },
      "rotation": {
        "y": 0.0
      }
    },
    {
      "id": "9519936",
      "label": "1",
      "position": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "rotation": {
        "y": 39.80557109226519
      }
    },
    {
      "id": "1122465",
      "label": "2",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": -3.0
      },
      "rotation": {
        "y": 45.0
      }
    },
    {
      "id": "9544191",
      "label": "3",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -7.0
      },
      "rotation": {
        "y": 45.0
      }
    },
    {
      "id": "2049101",
      "label": "4",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": 60.25511870305778
      }
    },
    {
      "id": "4697970",
      "label": "5",
      "position": {
        "x": 3.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": -36.86989764584402
      }
    },
    {
      "id": "1692034",
      "label": "6",
      "position": {
        "x": 4.0,
        "y": 0.8,
        "z": -7.0
      },
      "rotation": {
        "y": -29.74488129694222
      }
    },
    {
      "id": "9821436",
      "label": "7",
      "position": {
        "x": 0.0,
        "y": 0.8,
        "z": -9.0
      },
      "rotation": {
        "y": -0.0
      }
    },
    {
      "id": "6685795",
      "label": "8",
      "position": {
        "x": 1.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": -14.036243467926479
      }
    },
    {
      "id": "6013434",
      "label": "9",
      "position": {
        "x": 2.0,
        "y": 0.8,
        "z": -9.0
      },
      "rotation": {
        "y": -12.528807709151511
      }
    },
    {
      "id": "20023",
      "label": "D20023",
      "position": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "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": -5.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_east.png",
      "cam_id": "agent",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "agent_facing_south.png",
      "cam_id": "agent",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "agent_facing_west.png",
      "cam_id": "agent",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -8.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9519936_facing_north.png",
      "cam_id": "9519936",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9519936_facing_east.png",
      "cam_id": "9519936",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "9519936_facing_south.png",
      "cam_id": "9519936",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "9519936_facing_west.png",
      "cam_id": "9519936",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1122465_facing_north.png",
      "cam_id": "1122465",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -3.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "1122465_facing_east.png",
      "cam_id": "1122465",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -3.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "1122465_facing_south.png",
      "cam_id": "1122465",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -3.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1122465_facing_west.png",
      "cam_id": "1122465",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -3.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9544191_facing_north.png",
      "cam_id": "9544191",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9544191_facing_east.png",
      "cam_id": "9544191",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9544191_facing_south.png",
      "cam_id": "9544191",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "9544191_facing_west.png",
      "cam_id": "9544191",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "2049101_facing_north.png",
      "cam_id": "2049101",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "2049101_facing_east.png",
      "cam_id": "2049101",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "2049101_facing_south.png",
      "cam_id": "2049101",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "2049101_facing_west.png",
      "cam_id": "2049101",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "4697970_facing_north.png",
      "cam_id": "4697970",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "4697970_facing_east.png",
      "cam_id": "4697970",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "4697970_facing_south.png",
      "cam_id": "4697970",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9821436,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4697970_facing_west.png",
      "cam_id": "4697970",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1692034_facing_north.png",
      "cam_id": "1692034",
      "pos": {
        "x": 4.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 4697970,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1692034_facing_east.png",
      "cam_id": "1692034",
      "pos": {
        "x": 4.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "1692034_facing_south.png",
      "cam_id": "1692034",
      "pos": {
        "x": 4.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1692034_facing_west.png",
      "cam_id": "1692034",
      "pos": {
        "x": 4.0,
        "y": 0.8,
        "z": -7.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9821436,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9821436_facing_north.png",
      "cam_id": "9821436",
      "pos": {
        "x": 0.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 4697970,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9821436_facing_east.png",
      "cam_id": "9821436",
      "pos": {
        "x": 0.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9821436_facing_south.png",
      "cam_id": "9821436",
      "pos": {
        "x": 0.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "9821436_facing_west.png",
      "cam_id": "9821436",
      "pos": {
        "x": 0.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "6685795_facing_north.png",
      "cam_id": "6685795",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "6685795_facing_east.png",
      "cam_id": "6685795",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4697970,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6685795_facing_south.png",
      "cam_id": "6685795",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9821436,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6685795_facing_west.png",
      "cam_id": "6685795",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "6013434_facing_north.png",
      "cam_id": "6013434",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 4697970,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6013434_facing_east.png",
      "cam_id": "6013434",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6013434_facing_south.png",
      "cam_id": "6013434",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "6013434_facing_west.png",
      "cam_id": "6013434",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -9.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9821436,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20023_facing_north.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 1122465,
          "model": "desklamp3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20023_facing_east.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "20023_facing_south.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "20023_facing_west.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 9519936,
          "model": "dog2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9544191,
          "model": "dining_room_table",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 2049101,
          "model": "lego2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20023_facing_north.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "20023_facing_east.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4697970,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1692034,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6685795,
          "model": "flat_woven_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6013434,
          "model": "airplane3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20023_facing_south.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 9821436,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20023_facing_west.png",
      "cam_id": "20023",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": []
    }
  ],
  "rooms": {
    "1": {
      "center": [
        -5.5,
        -5.5
      ],
      "bounds": [
        -8.5,
        -2.5,
        -8.5,
        -2.5
      ],
      "area": 36,
      "connected_rooms": [
        2
      ]
    },
    "2": {
      "center": [
        1.5,
        -6.5
      ],
      "bounds": [
        -1.5,
        4.5,
        -9.5,
        -3.5
      ],
      "area": 36,
      "connected_rooms": [
        1
      ]
    }
  },
  "doors": {
    "100": {
      "center": [
        -2.0,
        -6.0
      ],
      "color": "yellow",
      "connected_rooms": [
        1,
        2
      ],
      "orientation": "vertical",
      "width": 1
    }
  },
  "room_object_assignments": {
    "1": [
      {
        "object_id": 9519936,
        "name": "dog",
        "label": "1"
      },
      {
        "object_id": 1122465,
        "name": "desklamp",
        "label": "2"
      },
      {
        "object_id": 9544191,
        "name": "table",
        "label": "3"
      },
      {
        "object_id": 2049101,
        "name": "lego man",
        "label": "4"
      }
    ],
    "2": [
      {
        "object_id": 4697970,
        "name": "alarmclock",
        "label": "5"
      },
      {
        "object_id": 1692034,
        "name": "toilet",
        "label": "6"
      },
      {
        "object_id": 9821436,
        "name": "basket",
        "label": "7"
      },
      {
        "object_id": 6685795,
        "name": "rug",
        "label": "8"
      },
      {
        "object_id": 6013434,
        "name": "airplane",
        "label": "9"
      }
    ]
  },
  "mask": [
    [
      -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,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      0,
      0,
      0,
      100,
      0,
      0,
      0,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      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
    ]
  ],
  "offset": [
    10,
    10
  ],
  "validated_tasks": [
    "rot",
    "rot_dual",
    "dir",
    "pov",
    "e2a",
    "fwd_loc",
    "bwd_loc",
    "false_belief",
    "fwd_fov",
    "bwd_nav",
    "bwd_pov"
  ]
}