{
  "room_size": [
    20.0,
    20.0
  ],
  "screen_size": [
    768,
    768
  ],
  "seed": 26428,
  "min_distance": 1.42,
  "objects": [
    {
      "object_id": 6614354,
      "model": "4ft_shelf_metal",
      "name": "shelf",
      "label": "1",
      "pos": {
        "x": -3.0,
        "y": 0.05,
        "z": 2.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.23146212,
        0.56710092
      ],
      "attributes": {
        "scale": 0.6,
        "has_orientation": false,
        "room_id": 1
      }
    },
    {
      "object_id": 3199147,
      "model": "scooter2",
      "name": "scooter",
      "label": "2",
      "pos": {
        "x": -3.0,
        "y": 0.05,
        "z": 4.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.005006981848,
        0.01102899836
      ],
      "attributes": {
        "scale": 0.004,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "north"
      }
    },
    {
      "object_id": 4236514,
      "model": "mug2",
      "name": "mug",
      "label": "3",
      "pos": {
        "x": 1.0,
        "y": 0.05,
        "z": 4.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.00461321468,
        0.00319821566
      ],
      "attributes": {
        "scale": 0.01,
        "has_orientation": true,
        "room_id": 1,
        "orientation": "west"
      }
    },
    {
      "object_id": 9222024,
      "model": "microwave",
      "name": "microwave",
      "label": "4",
      "pos": {
        "x": 1.0,
        "y": 0.05,
        "z": 6.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        0.6056257199999999,
        0.325985256
      ],
      "attributes": {
        "scale": 1.2,
        "has_orientation": false,
        "room_id": 1
      }
    },
    {
      "object_id": 1877858,
      "model": "blue_rug",
      "name": "rug",
      "label": "5",
      "pos": {
        "x": -5.0,
        "y": 0.05,
        "z": -2.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.9144,
        1.3716
      ],
      "attributes": {
        "scale": 0.5,
        "has_orientation": false,
        "room_id": 2
      }
    },
    {
      "object_id": 1781206,
      "model": "alarm_clock",
      "name": "alarmclock",
      "label": "6",
      "pos": {
        "x": -9.0,
        "y": 0.05,
        "z": -6.0
      },
      "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": 3771006,
      "model": "fire_extinguisher",
      "name": "fire_extinguisher",
      "label": "7",
      "pos": {
        "x": -7.0,
        "y": 0.05,
        "z": -1.0
      },
      "rot": {
        "x": 0,
        "y": 180,
        "z": 0
      },
      "size": [
        0.3545385,
        0.217863105
      ],
      "attributes": {
        "scale": 1.5,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "south"
      }
    },
    {
      "object_id": 5474378,
      "model": "airplane4",
      "name": "airplane",
      "label": "8",
      "pos": {
        "x": -9.0,
        "y": 0.05,
        "z": -4.0
      },
      "rot": {
        "x": 0,
        "y": 90,
        "z": 0
      },
      "size": [
        0.010268173220000001,
        0.01166137098
      ],
      "attributes": {
        "scale": 0.02,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "east"
      }
    },
    {
      "object_id": 8768014,
      "model": "shoes2",
      "name": "shoes2",
      "label": "9",
      "pos": {
        "x": -5.0,
        "y": 0.05,
        "z": -6.0
      },
      "rot": {
        "x": 0,
        "y": 270,
        "z": 0
      },
      "size": [
        0.00762122964,
        0.00832993982
      ],
      "attributes": {
        "scale": 0.002,
        "has_orientation": true,
        "room_id": 2,
        "orientation": "west"
      }
    },
    {
      "object_id": 20127,
      "model": "brown_door",
      "name": "brown door",
      "pos": {
        "x": -4.0,
        "y": 0,
        "z": 0.0
      },
      "rot": {
        "x": 0,
        "y": 0,
        "z": 0
      },
      "size": [
        1,
        2.0
      ],
      "attributes": {
        "color": "brown",
        "orientation": "horizontal",
        "connected_rooms": [
          1,
          2
        ]
      }
    }
  ],
  "cameras": [
    {
      "id": "agent",
      "label": "A",
      "position": {
        "x": -3.0,
        "y": 0.85,
        "z": 6.0
      },
      "rotation": {
        "y": 0.0
      }
    },
    {
      "id": "6614354",
      "label": "1",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": 2.0
      },
      "rotation": {
        "y": 123.69006752597979
      }
    },
    {
      "id": "3199147",
      "label": "2",
      "position": {
        "x": -3.0,
        "y": 0.8,
        "z": 4.0
      },
      "rotation": {
        "y": 143.13010235415598
      }
    },
    {
      "id": "4236514",
      "label": "3",
      "position": {
        "x": 1.0,
        "y": 0.8,
        "z": 4.0
      },
      "rotation": {
        "y": -165.96375653207352
      }
    },
    {
      "id": "9222024",
      "label": "4",
      "position": {
        "x": 1.0,
        "y": 0.8,
        "z": 6.0
      },
      "rotation": {
        "y": -170.53767779197437
      }
    },
    {
      "id": "1877858",
      "label": "5",
      "position": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "rotation": {
        "y": 68.19859051364818
      }
    },
    {
      "id": "1781206",
      "label": "6",
      "position": {
        "x": -9.0,
        "y": 0.8,
        "z": -6.0
      },
      "rotation": {
        "y": 56.309932474020215
      }
    },
    {
      "id": "3771006",
      "label": "7",
      "position": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "rotation": {
        "y": 81.86989764584403
      }
    },
    {
      "id": "5474378",
      "label": "8",
      "position": {
        "x": -9.0,
        "y": 0.8,
        "z": -4.0
      },
      "rotation": {
        "y": 66.03751102542182
      }
    },
    {
      "id": "8768014",
      "label": "9",
      "position": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "rotation": {
        "y": 39.80557109226519
      }
    },
    {
      "id": "20127",
      "label": "D20127",
      "position": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "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": 6.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "agent_facing_east.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4236514,
          "model": "mug2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_south.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3199147,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "agent_facing_west.png",
      "cam_id": "agent",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "6614354_facing_north.png",
      "cam_id": "6614354",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 3199147,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6614354_facing_east.png",
      "cam_id": "6614354",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4236514,
          "model": "mug2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "6614354_facing_south.png",
      "cam_id": "6614354",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "6614354_facing_west.png",
      "cam_id": "6614354",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 2.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "3199147_facing_north.png",
      "cam_id": "3199147",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "3199147_facing_east.png",
      "cam_id": "3199147",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4236514,
          "model": "mug2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3199147_facing_south.png",
      "cam_id": "3199147",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3199147_facing_west.png",
      "cam_id": "3199147",
      "pos": {
        "x": -3.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "4236514_facing_north.png",
      "cam_id": "4236514",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "4236514_facing_east.png",
      "cam_id": "4236514",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "4236514_facing_south.png",
      "cam_id": "4236514",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "4236514_facing_west.png",
      "cam_id": "4236514",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 4.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3199147,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9222024_facing_north.png",
      "cam_id": "9222024",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "9222024_facing_east.png",
      "cam_id": "9222024",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "9222024_facing_south.png",
      "cam_id": "9222024",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 4236514,
          "model": "mug2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "9222024_facing_west.png",
      "cam_id": "9222024",
      "pos": {
        "x": 1.0,
        "y": 0.8,
        "z": 6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3199147,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1877858_facing_north.png",
      "cam_id": "1877858",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "1877858_facing_east.png",
      "cam_id": "1877858",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "1877858_facing_south.png",
      "cam_id": "1877858",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8768014,
          "model": "shoes2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1877858_facing_west.png",
      "cam_id": "1877858",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -2.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3771006,
          "model": "fire_extinguisher",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5474378,
          "model": "airplane4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1781206_facing_north.png",
      "cam_id": "1781206",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3771006,
          "model": "fire_extinguisher",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5474378,
          "model": "airplane4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1781206_facing_east.png",
      "cam_id": "1781206",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 0.5,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8768014,
          "model": "shoes2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "1781206_facing_south.png",
      "cam_id": "1781206",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "1781206_facing_west.png",
      "cam_id": "1781206",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "3771006_facing_north.png",
      "cam_id": "3771006",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "3771006_facing_east.png",
      "cam_id": "3771006",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3771006_facing_south.png",
      "cam_id": "3771006",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5474378,
          "model": "airplane4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8768014,
          "model": "shoes2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "3771006_facing_west.png",
      "cam_id": "3771006",
      "pos": {
        "x": -7.0,
        "y": 0.8,
        "z": -1.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "5474378_facing_north.png",
      "cam_id": "5474378",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 3771006,
          "model": "fire_extinguisher",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5474378_facing_east.png",
      "cam_id": "5474378",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8768014,
          "model": "shoes2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5474378_facing_south.png",
      "cam_id": "5474378",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "5474378_facing_west.png",
      "cam_id": "5474378",
      "pos": {
        "x": -9.0,
        "y": 0.8,
        "z": -4.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "8768014_facing_north.png",
      "cam_id": "8768014",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3771006,
          "model": "fire_extinguisher",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "8768014_facing_east.png",
      "cam_id": "8768014",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "8768014_facing_south.png",
      "cam_id": "8768014",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "8768014_facing_west.png",
      "cam_id": "8768014",
      "pos": {
        "x": -5.0,
        "y": 0.8,
        "z": -6.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5474378,
          "model": "airplane4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20127_facing_north.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "north",
      "object_ratios": [
        {
          "object_id": 6614354,
          "model": "4ft_shelf_metal",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 3199147,
          "model": "scooter2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 9222024,
          "model": "microwave",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20127_facing_east.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "east",
      "object_ratios": [
        {
          "object_id": 4236514,
          "model": "mug2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20127_facing_south.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "south",
      "object_ratios": []
    },
    {
      "file": "20127_facing_west.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "west",
      "object_ratios": []
    },
    {
      "file": "20127_facing_north.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "north",
      "object_ratios": []
    },
    {
      "file": "20127_facing_east.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "east",
      "object_ratios": []
    },
    {
      "file": "20127_facing_south.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "south",
      "object_ratios": [
        {
          "object_id": 1877858,
          "model": "blue_rug",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 1781206,
          "model": "alarm_clock",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 8768014,
          "model": "shoes2",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    },
    {
      "file": "20127_facing_west.png",
      "cam_id": "20127",
      "pos": {
        "x": -4.0,
        "y": 0.8,
        "z": 0.0
      },
      "direction": "west",
      "object_ratios": [
        {
          "object_id": 3771006,
          "model": "fire_extinguisher",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        },
        {
          "object_id": 5474378,
          "model": "airplane4",
          "visibility_ratio": 1.0,
          "occlusion_ratio": 0.0
        }
      ]
    }
  ],
  "rooms": {
    "1": {
      "center": [
        -1.5,
        3.5
      ],
      "bounds": [
        -4.5,
        1.5,
        0.5,
        6.5
      ],
      "area": 36,
      "connected_rooms": [
        2
      ]
    },
    "2": {
      "center": [
        -6.5,
        -3.5
      ],
      "bounds": [
        -9.5,
        -3.5,
        -6.5,
        -0.5
      ],
      "area": 36,
      "connected_rooms": [
        1
      ]
    }
  },
  "doors": {
    "101": {
      "center": [
        -4.0,
        0.0
      ],
      "color": "brown",
      "connected_rooms": [
        1,
        2
      ],
      "orientation": "horizontal",
      "width": 1
    }
  },
  "room_object_assignments": {
    "1": [
      {
        "object_id": 6614354,
        "name": "shelf",
        "label": "1"
      },
      {
        "object_id": 3199147,
        "name": "scooter",
        "label": "2"
      },
      {
        "object_id": 4236514,
        "name": "mug",
        "label": "3"
      },
      {
        "object_id": 9222024,
        "name": "microwave",
        "label": "4"
      }
    ],
    "2": [
      {
        "object_id": 1877858,
        "name": "rug",
        "label": "5"
      },
      {
        "object_id": 1781206,
        "name": "alarmclock",
        "label": "6"
      },
      {
        "object_id": 3771006,
        "name": "fire_extinguisher",
        "label": "7"
      },
      {
        "object_id": 5474378,
        "name": "airplane",
        "label": "8"
      },
      {
        "object_id": 8768014,
        "name": "shoes2",
        "label": "9"
      }
    ]
  },
  "mask": [
    [
      -1,
      -1,
      -1,
      0,
      0,
      0,
      0,
      0,
      0,
      0,
      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,
      0,
      0,
      0,
      0,
      0,
      0,
      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,
      0,
      0,
      0,
      0,
      0,
      0,
      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,
      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
    ]
  ],
  "offset": [
    10,
    10
  ],
  "validated_tasks": [
    "rot",
    "rot_dual",
    "dir",
    "pov",
    "e2a",
    "fwd_loc",
    "bwd_loc",
    "false_belief",
    "fwd_fov",
    "bwd_nav",
    "bwd_pov"
  ]
}