{
  "room_size": [
    20.0,
    20.0
  ],
  "screen_size": [
    768,
    768
  ],
  "seed": 19926,
  "min_distance": 1.42,
  "objects": [
    {
      "object_id": 4944084,
      "model": "lego1",
      "name": "lego man",
      "label": "1",
      "pos": {
        "x": 1.0,
        "y": 0.05,
        "z": 0.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.0044249358,
        0.0020981615789999997
      ],
      "attributes": {
        "scale": 0.003,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "east"
      }
    },
    {
      "object_id": 4707824,
      "model": "shoes3",
      "name": "shoes3",
      "label": "2",
      "pos": {
        "x": -3.0,
        "y": 0.05,
        "z": -2.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.0052580026000000005,
        0.00635666102
      ],
      "attributes": {
        "scale": 0.2,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "west"
      }
    },
    {
      "object_id": 6324861,
      "model": "toilet2",
      "name": "toilet",
      "label": "3",
      "pos": {
        "x": -1.0,
        "y": 0.05,
        "z": 1.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.003413068096,
        0.00705007744
      ],
      "attributes": {
        "scale": 0.002,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "east"
      }
    },
    {
      "object_id": 1209649,
      "model": "backpack4",
      "name": "backpack",
      "label": "4",
      "pos": {
        "x": 2.0,
        "y": 0.05,
        "z": -2.0
      },
      "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": 5634532,
      "model": "4ft_wood_shelving",
      "name": "shelf",
      "label": "5",
      "pos": {
        "x": -2.0,
        "y": 0.05,
        "z": 6.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.23146212,
        0.56710092
      ],
      "attributes": {
        "scale": 0.6,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 7233743,
      "model": "truck4",
      "name": "truck",
      "label": "6",
      "pos": {
        "x": -1.0,
        "y": 0.05,
        "z": 8.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.0070909997199999995,
        0.0038959
      ],
      "attributes": {
        "scale": 2.0,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "south"
      }
    },
    {
      "object_id": 4965650,
      "model": "b03_basket",
      "name": "basket",
      "label": "7",
      "pos": {
        "x": 3.0,
        "y": 0.05,
        "z": 8.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.4791392,
        0.4832616
      ],
      "attributes": {
        "scale": 1.0,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 3916417,
      "model": "kids_luggage_1",
      "name": "suitcase",
      "label": "8",
      "pos": {
        "x": 2.0,
        "y": 0.05,
        "z": 6.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.3013573,
        0.13246452
      ],
      "attributes": {
        "scale": 1.0,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "north"
      }
    },
    {
      "object_id": 7191135,
      "model": "blue_rug",
      "name": "rug",
      "label": "9",
      "pos": {
        "x": -2.0,
        "y": 0.05,
        "z": 3.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.9144,
        1.3716
      ],
      "attributes": {
        "scale": 0.5,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 20107,
      "model": "green_door",
      "name": "green door",
      "pos": {
        "x": 2.0,
        "y": 0,
        "z": 2.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        1,
        2.0
      ],
      "attributes": {
        "color": "green",
        "orientation": "horizontal",
        "connected_rooms": [
          1,
          2
        ]
      }
    }
  ],
  "cameras": [
    {
      "id": "agent",
      "label": "A",
      "position": {
        "x": -3.0,
        "y": 0.85,
        "z": -4.0
      },
      "rotation": {
        "y": 0.0
      }
    },
    {
      "id": "4944084",
      "label": "1",
      "position": {
        "x": 1.0,
        "y": 0.8,
        "z": 0.0
      },
      "rotation": {
        "y": -90.0
      }
    },
    {
      "id": "4707824",
      "label": "2",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": -2.0
      },
      "rotation": {
        "y": 56.309932474020215
      }
    },
    {
      "id": "6324861",
      "label": "3",
      "position": {
        "x": -1.0,
        "y": 0.8,
        "z": 1.0
      },
      "rotation": {
        "y": 135.0
      }
    },
    {
      "id": "1209649",
      "label": "4",
      "position": {
        "x": 2.0,
        "y": 0.8,
        "z": -2.0
      },
      "rotation": {
        "y": -45.0
      }
    },
    {
      "id": "5634532",
      "label": "5",
      "position": {
        "x": -2.0,
        "y": 0.8,
        "z": 6.0
      },
      "rotation": {
        "y": 161.565051177078
      }
    },
    {
      "id": "7233743",
      "label": "6",
      "position": {
        "x": -1.0,
        "y": 0.8,
        "z": 8.0
      },
      "rotation": {
        "y": 172.8749836510982
      }
    },
    {
      "id": "4965650",
      "label": "7",
      "position": {
        "x": 3.0,
        "y": 0.8,
        "z": 8.0
      },
      "rotation": {
        "y": -159.44395478041653
      }
    },
    {
      "id": "3916417",
      "label": "8",
      "position": {
        "x": 2.0,
        "y": 0.8,
        "z": 6.0
      },
      "rotation": {
        "y": -161.565051177078
      }
    },
    {
      "id": "7191135",
      "label": "9",
      "position": {
        "x": -2.0,
        "y": 0.8,
        "z": 3.0
      },
      "rotation": {
        "y": 146.30993247402023
      }
    },
    {
      "id": "20107",
      "label": "D20107",
      "position": {
        "x": 2.0,
        "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": -3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4707824,
          "model": "shoes3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_east.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_south.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "agent_facing_west.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "4944084_facing_north.png",
      "cam_id": "4944084",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "4944084_facing_east.png",
      "cam_id": "4944084",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "4944084_facing_south.png",
      "cam_id": "4944084",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4944084_facing_west.png",
      "cam_id": "4944084",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 4707824,
          "model": "shoes3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4707824_facing_north.png",
      "cam_id": "4707824",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4707824_facing_east.png",
      "cam_id": "4707824",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4707824_facing_south.png",
      "cam_id": "4707824",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "4707824_facing_west.png",
      "cam_id": "4707824",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "6324861_facing_north.png",
      "cam_id": "6324861",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 1.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "6324861_facing_east.png",
      "cam_id": "6324861",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 1.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6324861_facing_south.png",
      "cam_id": "6324861",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 1.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 4707824,
          "model": "shoes3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6324861_facing_west.png",
      "cam_id": "6324861",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 1.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "1209649_facing_north.png",
      "cam_id": "1209649",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1209649_facing_east.png",
      "cam_id": "1209649",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "1209649_facing_south.png",
      "cam_id": "1209649",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "1209649_facing_west.png",
      "cam_id": "1209649",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 4707824,
          "model": "shoes3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5634532_facing_north.png",
      "cam_id": "5634532",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 0.944,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5634532_facing_east.png",
      "cam_id": "5634532",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 0.056,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3916417,
          "model": "kids_luggage_1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5634532_facing_south.png",
      "cam_id": "5634532",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5634532_facing_west.png",
      "cam_id": "5634532",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "7233743_facing_north.png",
      "cam_id": "7233743",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "7233743_facing_east.png",
      "cam_id": "7233743",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3916417,
          "model": "kids_luggage_1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "7233743_facing_south.png",
      "cam_id": "7233743",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "7233743_facing_west.png",
      "cam_id": "7233743",
      "pos": {
        "x": -1.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "4965650_facing_north.png",
      "cam_id": "4965650",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "4965650_facing_east.png",
      "cam_id": "4965650",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "4965650_facing_south.png",
      "cam_id": "4965650",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 3916417,
          "model": "kids_luggage_1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4965650_facing_west.png",
      "cam_id": "4965650",
      "pos": {
        "x": 3.0,
        "y": 0.8,
        "z": 8.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3916417_facing_north.png",
      "cam_id": "3916417",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 0.056,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3916417_facing_east.png",
      "cam_id": "3916417",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "3916417_facing_south.png",
      "cam_id": "3916417",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "3916417_facing_west.png",
      "cam_id": "3916417",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 0.944,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "7191135_facing_north.png",
      "cam_id": "7191135",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "7191135_facing_east.png",
      "cam_id": "7191135",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3916417,
          "model": "kids_luggage_1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "7191135_facing_south.png",
      "cam_id": "7191135",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "7191135_facing_west.png",
      "cam_id": "7191135",
      "pos": {
        "x": -2.0,
        "y": 0.8,
        "z": 3.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "20107_facing_north.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "20107_facing_east.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "20107_facing_south.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 4944084,
          "model": "lego1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1209649,
          "model": "backpack4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20107_facing_west.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 4707824,
          "model": "shoes3",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 6324861,
          "model": "toilet2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20107_facing_north.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7233743,
          "model": "truck4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4965650,
          "model": "b03_basket",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3916417,
          "model": "kids_luggage_1",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20107_facing_east.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "20107_facing_south.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "20107_facing_west.png",
      "cam_id": "20107",
      "pos": {
        "x": 2.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 5634532,
          "model": "4ft_wood_shelving",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 7191135,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    }
  ],
  "rooms": {
    "1": {
      "center": [
        -0.5,
        -1.5
      ],
      "bounds": [
        -3.5,
        2.5,
        -4.5,
        1.5
      ],
      "area": 36,
      "connected_rooms": [
        2
      ]
    },
    "2": {
      "center": [
        0.5,
        5.5
      ],
      "bounds": [
        -2.5,
        3.5,
        2.5,
        8.5
      ],
      "area": 36,
      "connected_rooms": [
        1
      ]
    }
  },
  "doors": {
    "101": {
      "center": [
        2.0,
        2.0
      ],
      "color": "green",
      "connected_rooms": [
        1,
        2
      ],
      "orientation": "horizontal",
      "width": 1
    }
  },
  "room_object_assignments": {
    "1": [
      {
        "object_id": 4944084,
        "name": "lego man",
        "label": "1"
      },
      {
        "object_id": 4707824,
        "name": "shoes3",
        "label": "2"
      },
      {
        "object_id": 6324861,
        "name": "toilet",
        "label": "3"
      },
      {
        "object_id": 1209649,
        "name": "backpack",
        "label": "4"
      }
    ],
    "2": [
      {
        "object_id": 5634532,
        "name": "shelf",
        "label": "5"
      },
      {
        "object_id": 7233743,
        "name": "truck",
        "label": "6"
      },
      {
        "object_id": 4965650,
        "name": "basket",
        "label": "7"
      },
      {
        "object_id": 3916417,
        "name": "suitcase",
        "label": "8"
      },
      {
        "object_id": 7191135,
        "name": "rug",
        "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,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -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,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1,
      -1
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      0,
      2,
      2,
      2,
      2,
      2,
      2,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      1,
      1,
      1,
      1,
      1,
      1,
      101,
      2,
      2,
      2,
      2,
      2,
      2,
      0
    ],
    [
      -1,
      -1,
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      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,
      -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"
  ]
}