Before revision:  The scenes are replicas of 3D scanned real-world homes, aligning the distribution of objects and layout to that of the real world. iGibson integrates several key features to facilitate the study of interactive tasks:
After revision:  The scenes are replicas of 3D scanned real-world homes, with distribution and the layout of objects aligned to those of the real world. iGibson integrates several key features to facilitate the study of interactive tasks: