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+}
\ No newline at end of file
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+}
\ No newline at end of file
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+      "45": "homestudio_0_0_001",
+      "47": "homestudio_0_0_ceiling_001",
+      "49": "homestudio_0_0_exterior_001",
+      "51": "homestudio_0_0_floor_001",
+      "53": "homestudio_0_0_meshed_001",
+      "55": "homestudio_0_0_wall_001",
+      "57": "infinigen_version_1_19_1_001",
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+      "123": "skirtingboard_support_001",
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+  }
+}
\ No newline at end of file
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+      "near_edge": false
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+    }
+  ]
+}
\ No newline at end of file
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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diff --git a/kitchen/kitchen_s1256694276/objects_in_view.json b/kitchen/kitchen_s1256694276/objects_in_view.json
new file mode 100644
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--- /dev/null
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+      "17": "dishwasherfactory_2951887_spawn_asset_6925100_001",
+      "36": "kitchenspacefactory_804963_spawn_asset_7249542_001",
+      "38": "kitchenspacefactory_804963_spawn_placeholder_7249542_001",
+      "40": "largeplantcontainerfactory_6983632_spawn_asset_8211615_001",
+      "42": "largeplantcontainerfactory_6983632_spawn_placeholder_8211615_001",
+      "48": "ovenfactory_7898501_bbox_placeholder_3145456_001",
+      "50": "ovenfactory_7898501_spawn_asset_3145456_001",
+      "20": "paneldoorfactory_6159527_spawn_asset_0_001",
+      "53": "plane_001",
+      "55": "singlecabinetfactory_5993548_spawn_asset_3317433_001",
+      "57": "singlecabinetfactory_5993548_spawn_placeholder_3317433_001",
+      "59": "singlecabinetfactory_7649613_spawn_asset_5346946_001",
+      "61": "singlecabinetfactory_7649613_spawn_placeholder_5346946_001",
+      "63": "singlecabinetfactory_9457163_spawn_asset_274608_001",
+      "65": "singlecabinetfactory_9457163_spawn_placeholder_274608_001",
+      "72": "windowfactory_24517_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "19": "door_001",
+      "22": "infinigen_version_1_19_1_001",
+      "24": "kitchen_0_0_001",
+      "26": "kitchen_0_0_ceiling_001",
+      "28": "kitchen_0_0_exterior_001",
+      "30": "kitchen_0_0_floor_001",
+      "32": "kitchen_0_0_meshed_001",
+      "34": "kitchen_0_0_wall_001",
+      "44": "living_ceiling_0_0_001",
+      "46": "living_ceiling_1_0_001",
+      "67": "skirtingboard_ceiling_001",
+      "69": "skirtingboard_support_001",
+      "71": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694277/objects_in_view.json b/kitchen/kitchen_s1256694277/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33f93edd76b5b229862fb7816fb012134856935
--- /dev/null
+++ b/kitchen/kitchen_s1256694277/objects_in_view.json
@@ -0,0 +1,56 @@
+{
+  "scene_id": "kitchen_s1256694277",
+  "categories_in_view_count": 5,
+  "categories_in_view": [
+    "cell_shelf",
+    "dishwasher",
+    "large_plant_container",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 6,
+  "objects": [
+    {
+      "id": "CellShelfFactory(7365692).spawn_asset(335186)",
+      "category": "cell_shelf",
+      "actual_pixels": 60765,
+      "truncation_ratio": 1.0988,
+      "near_edge": false
+    },
+    {
+      "id": "DishwasherFactory(2951887).spawn_asset(6925100)",
+      "category": "dishwasher",
+      "actual_pixels": 131824,
+      "truncation_ratio": 0.9997,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(6983632).spawn_asset(8211615)",
+      "category": "large_plant_container",
+      "actual_pixels": 2692,
+      "truncation_ratio": 0.9985,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(7898501).spawn_asset(3145456)",
+      "category": "oven",
+      "actual_pixels": 177257,
+      "truncation_ratio": 0.4808,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(5993548).spawn_asset(3317433)",
+      "category": "single_cabinet",
+      "actual_pixels": 16000,
+      "truncation_ratio": 0.7298,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(9457163).spawn_asset(274608)",
+      "category": "single_cabinet",
+      "actual_pixels": 24910,
+      "truncation_ratio": 0.9321,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694278/GT.json b/kitchen/kitchen_s1256694278/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c794ef4ce08eab4b92524277dc4842b6917b6b
--- /dev/null
+++ b/kitchen/kitchen_s1256694278/GT.json
@@ -0,0 +1,151 @@
+{
+  "scene_id": "kitchen_s1256694278",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        4.88,
+        3.49
+      ],
+      "asset_count": 9
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(5024741).spawn_asset(9959108)",
+        "category": "beverage_fridge",
+        "position": [
+          -0.97,
+          -0.43,
+          0.63
+        ],
+        "dimensions": [
+          0.81,
+          1.16,
+          1.0
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "CellShelfFactory(5977863).spawn_asset(9286681)",
+        "category": "cell_shelf",
+        "position": [
+          1.38,
+          0.83,
+          0.77
+        ],
+        "dimensions": [
+          0.88,
+          0.34,
+          1.29
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "KitchenSpaceFactory(8095484).spawn_asset(5710165)",
+        "category": "kitchen_space",
+        "position": [
+          1.09,
+          -0.98,
+          1.36
+        ],
+        "dimensions": [
+          2.54,
+          0.84,
+          2.46
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(1329479).spawn_asset(2998379)",
+        "category": "large_plant_container",
+        "position": [
+          -1.31,
+          2.07,
+          0.51
+        ],
+        "dimensions": [
+          0.48,
+          0.39,
+          0.75
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "MirrorFactory(8057370).spawn_asset(2956695)",
+        "category": "mirror",
+        "position": [
+          1.61,
+          0.58,
+          1.98
+        ],
+        "dimensions": [
+          0.54,
+          0.01,
+          0.73
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "OvenFactory(2505691).spawn_asset(3269364)",
+        "category": "oven",
+        "position": [
+          -0.94,
+          0.87,
+          0.95
+        ],
+        "dimensions": [
+          1.13,
+          1.22,
+          1.65
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "WallArtFactory(2172225).spawn_asset(5115023)",
+        "category": "wall_art",
+        "position": [
+          -1.62,
+          1.36,
+          2.22
+        ],
+        "dimensions": [
+          1.12,
+          0.02,
+          0.72
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "WallArtFactory(2374976).spawn_asset(1779673)",
+        "category": "wall_art",
+        "position": [
+          1.08,
+          2.36,
+          2.13
+        ],
+        "dimensions": [
+          0.52,
+          0.02,
+          1.93
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "WallArtFactory(3926985).spawn_asset(2055269)",
+        "category": "wall_art",
+        "position": [
+          -1.11,
+          -2.36,
+          2.13
+        ],
+        "dimensions": [
+          0.65,
+          0.01,
+          0.53
+        ],
+        "rotation_yaw": 0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694278/metadata.json b/kitchen/kitchen_s1256694278/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..00567b395ad18490a7980c1afaa9516f65b40398
--- /dev/null
+++ b/kitchen/kitchen_s1256694278/metadata.json
@@ -0,0 +1,111 @@
+{
+  "scene_id": "kitchen_s1256694278",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1112,
+    "hue_std": 1.7531,
+    "mean_value": 0.5576,
+    "mean_gradient": 0.0097,
+    "entropy": 7.2552
+  },
+  "camera": {
+    "location": [
+      0.8827053904533386,
+      2.360957145690918,
+      1.6992738246917725
+    ],
+    "rotation_euler": [
+      1.2777788639068604,
+      -0.0038873800076544285,
+      2.8707704544067383
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.7,
+    "distance_to_center": 2.52
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.32,
+          0.45,
+          0.48,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 1.0
+      }
+    },
+    "has_mirror": true
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_5024741_bbox_placeholder_9959108_001",
+      "5": "beveragefridgefactory_5024741_spawn_asset_9959108_001",
+      "11": "cellshelffactory_5977863_spawn_asset_9286681_001",
+      "13": "cellshelffactory_5977863_spawn_placeholder_9286681_001",
+      "15": "cube_001",
+      "17": "cube_001_001",
+      "36": "kitchenspacefactory_8095484_spawn_asset_5710165_001",
+      "38": "kitchenspacefactory_8095484_spawn_placeholder_5710165_001",
+      "40": "largeplantcontainerfactory_1329479_spawn_asset_2998379_001",
+      "42": "largeplantcontainerfactory_1329479_spawn_placeholder_2998379_001",
+      "48": "mesh_001",
+      "50": "mirrorfactory_8057370_spawn_asset_2956695_001",
+      "52": "mirrorfactory_8057370_spawn_placeholder_2956695_001",
+      "54": "ovenfactory_2505691_bbox_placeholder_3269364_001",
+      "56": "ovenfactory_2505691_spawn_asset_3269364_001",
+      "20": "paneldoorfactory_6934132_spawn_asset_0_001",
+      "59": "plane_001",
+      "65": "wallartfactory_2172225_spawn_asset_5115023_001",
+      "67": "wallartfactory_2172225_spawn_placeholder_5115023_001",
+      "69": "wallartfactory_2374976_spawn_asset_1779673_001",
+      "71": "wallartfactory_2374976_spawn_placeholder_1779673_001",
+      "73": "wallartfactory_3926985_spawn_asset_2055269_001",
+      "75": "wallartfactory_3926985_spawn_placeholder_2055269_001",
+      "78": "windowfactory_7151_spawn_asset_0_001",
+      "7": "camera_0_0_001",
+      "9": "camrig_0_001",
+      "19": "door_001",
+      "22": "infinigen_version_1_19_1_001",
+      "24": "kitchen_0_0_001",
+      "26": "kitchen_0_0_ceiling_001",
+      "28": "kitchen_0_0_exterior_001",
+      "30": "kitchen_0_0_floor_001",
+      "32": "kitchen_0_0_meshed_001",
+      "34": "kitchen_0_0_wall_001",
+      "44": "living_ceiling_0_0_001",
+      "46": "living_ceiling_1_0_001",
+      "61": "skirtingboard_ceiling_001",
+      "63": "skirtingboard_support_001",
+      "77": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694278/objects_in_view.json b/kitchen/kitchen_s1256694278/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fe9dce90b88863dcb1cac24097fa7c89238e160
--- /dev/null
+++ b/kitchen/kitchen_s1256694278/objects_in_view.json
@@ -0,0 +1,57 @@
+{
+  "scene_id": "kitchen_s1256694278",
+  "categories_in_view_count": 6,
+  "categories_in_view": [
+    "beverage_fridge",
+    "cell_shelf",
+    "kitchen_space",
+    "mirror",
+    "oven",
+    "wall_art"
+  ],
+  "objects_in_view_count": 6,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(5024741).spawn_asset(9959108)",
+      "category": "beverage_fridge",
+      "actual_pixels": 20794,
+      "truncation_ratio": 0.3903,
+      "near_edge": false
+    },
+    {
+      "id": "CellShelfFactory(5977863).spawn_asset(9286681)",
+      "category": "cell_shelf",
+      "actual_pixels": 131909,
+      "truncation_ratio": 0.7521,
+      "near_edge": false
+    },
+    {
+      "id": "KitchenSpaceFactory(8095484).spawn_asset(5710165)",
+      "category": "kitchen_space",
+      "actual_pixels": 91589,
+      "truncation_ratio": 0.6038,
+      "near_edge": false
+    },
+    {
+      "id": "MirrorFactory(8057370).spawn_asset(2956695)",
+      "category": "mirror",
+      "actual_pixels": 25563,
+      "truncation_ratio": 0.5522,
+      "near_edge": true
+    },
+    {
+      "id": "OvenFactory(2505691).spawn_asset(3269364)",
+      "category": "oven",
+      "actual_pixels": 228728,
+      "truncation_ratio": 0.7905,
+      "near_edge": false
+    },
+    {
+      "id": "WallArtFactory(3926985).spawn_asset(2055269)",
+      "category": "wall_art",
+      "actual_pixels": 5522,
+      "truncation_ratio": 1.0004,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694279/GT.json b/kitchen/kitchen_s1256694279/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..577b69cf2fd0b3411916c065e7c2d4fdbdf340e5
--- /dev/null
+++ b/kitchen/kitchen_s1256694279/GT.json
@@ -0,0 +1,121 @@
+{
+  "scene_id": "kitchen_s1256694279",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.75,
+        3.87,
+        3.15
+      ],
+      "asset_count": 7
+    },
+    "objects": [
+      {
+        "id": "KitchenSpaceFactory(8839921).spawn_asset(2924008)",
+        "category": "kitchen_space",
+        "position": [
+          -1.41,
+          0.51,
+          1.32
+        ],
+        "dimensions": [
+          1.9,
+          0.72,
+          2.4
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(8738804).spawn_asset(1721679)",
+        "category": "large_plant_container",
+        "position": [
+          1.51,
+          -0.04,
+          0.39
+        ],
+        "dimensions": [
+          0.59,
+          0.55,
+          0.51
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(5276407).spawn_asset(1947644)",
+        "category": "oven",
+        "position": [
+          1.2,
+          0.77,
+          0.77
+        ],
+        "dimensions": [
+          0.96,
+          1.21,
+          1.28
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(5176183).spawn_asset(5863195)",
+        "category": "simple_bookcase",
+        "position": [
+          1.61,
+          -0.95,
+          1.0
+        ],
+        "dimensions": [
+          1.16,
+          0.39,
+          1.74
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(5982569).spawn_asset(9153240)",
+        "category": "simple_bookcase",
+        "position": [
+          -1.54,
+          -1.1,
+          0.88
+        ],
+        "dimensions": [
+          1.15,
+          0.54,
+          1.52
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(6585288).spawn_asset(7407187)",
+        "category": "single_cabinet",
+        "position": [
+          1.01,
+          -1.61,
+          0.75
+        ],
+        "dimensions": [
+          0.49,
+          0.33,
+          1.25
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "SingleCabinetFactory(9154938).spawn_asset(8166520)",
+        "category": "single_cabinet",
+        "position": [
+          0.73,
+          1.62,
+          0.93
+        ],
+        "dimensions": [
+          0.51,
+          0.32,
+          1.61
+        ],
+        "rotation_yaw": 180
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694279/metadata.json b/kitchen/kitchen_s1256694279/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3f92c8cde8f1f7b314e1c0d55f9e4c50d4842f
--- /dev/null
+++ b/kitchen/kitchen_s1256694279/metadata.json
@@ -0,0 +1,106 @@
+{
+  "scene_id": "kitchen_s1256694279",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1935,
+    "hue_std": 0.5691,
+    "mean_value": 0.5951,
+    "mean_gradient": 0.009,
+    "entropy": 7.2239
+  },
+  "camera": {
+    "location": [
+      -0.9457350969314575,
+      0.8448910713195801,
+      1.3785898685455322
+    ],
+    "rotation_euler": [
+      1.2639625072479248,
+      0.08663306385278702,
+      -2.257012367248535
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.38,
+    "distance_to_center": 1.27
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.73,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cube_001",
+      "9": "cube_001_001",
+      "28": "kitchenspacefactory_8839921_spawn_asset_2924008_001",
+      "30": "kitchenspacefactory_8839921_spawn_placeholder_2924008_001",
+      "32": "largeplantcontainerfactory_8738804_spawn_asset_1721679_001",
+      "34": "largeplantcontainerfactory_8738804_spawn_placeholder_1721679_001",
+      "40": "ovenfactory_5276407_bbox_placeholder_1947644_001",
+      "42": "ovenfactory_5276407_spawn_asset_1947644_001",
+      "12": "paneldoorfactory_1396006_spawn_asset_0_001",
+      "45": "plane_001",
+      "47": "simplebookcasefactory_5176183_bbox_placeholder_5863195_001",
+      "49": "simplebookcasefactory_5176183_spawn_asset_5863195_001",
+      "51": "simplebookcasefactory_5982569_bbox_placeholder_9153240_001",
+      "53": "simplebookcasefactory_5982569_spawn_asset_9153240_001",
+      "55": "singlecabinetfactory_6585288_spawn_asset_7407187_001",
+      "57": "singlecabinetfactory_6585288_spawn_placeholder_7407187_001",
+      "59": "singlecabinetfactory_9154938_spawn_asset_8166520_001",
+      "61": "singlecabinetfactory_9154938_spawn_placeholder_8166520_001",
+      "68": "windowfactory_10096_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "11": "door_001",
+      "14": "infinigen_version_1_19_1_001",
+      "16": "kitchen_0_0_001",
+      "18": "kitchen_0_0_ceiling_001",
+      "20": "kitchen_0_0_exterior_001",
+      "22": "kitchen_0_0_floor_001",
+      "24": "kitchen_0_0_meshed_001",
+      "26": "kitchen_0_0_wall_001",
+      "36": "living_ceiling_0_0_001",
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+      "63": "skirtingboard_ceiling_001",
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new file mode 100644
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+          0.67
+        ],
+        "dimensions": [
+          0.46,
+          0.32,
+          1.1
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(4519345).spawn_asset(1843894)",
+        "category": "single_cabinet",
+        "position": [
+          1.83,
+          -0.43,
+          0.87
+        ],
+        "dimensions": [
+          0.62,
+          0.39,
+          1.48
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SingleCabinetFactory(6439267).spawn_asset(3828680)",
+        "category": "single_cabinet",
+        "position": [
+          -0.98,
+          -1.34,
+          0.98
+        ],
+        "dimensions": [
+          0.35,
+          0.38,
+          1.71
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "SingleCabinetFactory(991305).spawn_asset(1923331)",
+        "category": "single_cabinet",
+        "position": [
+          1.88,
+          -1.32,
+          0.97
+        ],
+        "dimensions": [
+          0.53,
+          0.31,
+          1.7
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694282/metadata.json b/kitchen/kitchen_s1256694282/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9ed8d67c25108d28cdd10ee40fefde4961a2826
--- /dev/null
+++ b/kitchen/kitchen_s1256694282/metadata.json
@@ -0,0 +1,108 @@
+{
+  "scene_id": "kitchen_s1256694282",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1493,
+    "hue_std": 1.0941,
+    "mean_value": 0.5965,
+    "mean_gradient": 0.0111,
+    "entropy": 7.3141
+  },
+  "camera": {
+    "location": [
+      0.19435255229473114,
+      1.4971827268600464,
+      1.9395756721496582
+    ],
+    "rotation_euler": [
+      1.0645160675048828,
+      0.07857702672481537,
+      3.003647804260254
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.94,
+    "distance_to_center": 1.51
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cellshelffactory_8300654_spawn_asset_7220850_001",
+      "9": "cellshelffactory_8300654_spawn_placeholder_7220850_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "32": "kitchenspacefactory_9835415_spawn_asset_231052_001",
+      "34": "kitchenspacefactory_9835415_spawn_placeholder_231052_001",
+      "36": "largeplantcontainerfactory_8327999_spawn_asset_7249711_001",
+      "38": "largeplantcontainerfactory_8327999_spawn_placeholder_7249711_001",
+      "44": "ovenfactory_4518442_bbox_placeholder_7051728_001",
+      "46": "ovenfactory_4518442_spawn_asset_7051728_001",
+      "16": "paneldoorfactory_7244314_spawn_asset_0_001",
+      "49": "plane_001",
+      "51": "singlecabinetfactory_1891768_spawn_asset_3366063_001",
+      "53": "singlecabinetfactory_1891768_spawn_placeholder_3366063_001",
+      "55": "singlecabinetfactory_4519345_spawn_asset_1843894_001",
+      "57": "singlecabinetfactory_4519345_spawn_placeholder_1843894_001",
+      "59": "singlecabinetfactory_6439267_spawn_asset_3828680_001",
+      "61": "singlecabinetfactory_6439267_spawn_placeholder_3828680_001",
+      "63": "singlecabinetfactory_991305_spawn_asset_1923331_001",
+      "65": "singlecabinetfactory_991305_spawn_placeholder_1923331_001",
+      "72": "windowfactory_82989_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "15": "door_001",
+      "18": "infinigen_version_1_19_1_001",
+      "20": "kitchen_0_0_001",
+      "22": "kitchen_0_0_ceiling_001",
+      "24": "kitchen_0_0_exterior_001",
+      "26": "kitchen_0_0_floor_001",
+      "28": "kitchen_0_0_meshed_001",
+      "30": "kitchen_0_0_wall_001",
+      "40": "living_ceiling_0_0_001",
+      "42": "living_ceiling_0_1_001",
+      "67": "skirtingboard_ceiling_001",
+      "69": "skirtingboard_support_001",
+      "71": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694282/objects_in_view.json b/kitchen/kitchen_s1256694282/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e87f2bc342f630eb63b96a0dbca716039fa313b
--- /dev/null
+++ b/kitchen/kitchen_s1256694282/objects_in_view.json
@@ -0,0 +1,47 @@
+{
+  "scene_id": "kitchen_s1256694282",
+  "categories_in_view_count": 3,
+  "categories_in_view": [
+    "kitchen_space",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 5,
+  "objects": [
+    {
+      "id": "KitchenSpaceFactory(9835415).spawn_asset(231052)",
+      "category": "kitchen_space",
+      "actual_pixels": 147100,
+      "truncation_ratio": 0.2706,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(4518442).spawn_asset(7051728)",
+      "category": "oven",
+      "actual_pixels": 120645,
+      "truncation_ratio": 1.0,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(4519345).spawn_asset(1843894)",
+      "category": "single_cabinet",
+      "actual_pixels": 82773,
+      "truncation_ratio": 0.6798,
+      "near_edge": true
+    },
+    {
+      "id": "SingleCabinetFactory(6439267).spawn_asset(3828680)",
+      "category": "single_cabinet",
+      "actual_pixels": 31927,
+      "truncation_ratio": 0.9729,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(991305).spawn_asset(1923331)",
+      "category": "single_cabinet",
+      "actual_pixels": 29184,
+      "truncation_ratio": 0.5625,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694283/GT.json b/kitchen/kitchen_s1256694283/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..85c6179ffb21ce2e3571491fe83a931b3d008351
--- /dev/null
+++ b/kitchen/kitchen_s1256694283/GT.json
@@ -0,0 +1,151 @@
+{
+  "scene_id": "kitchen_s1256694283",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        4.38,
+        2.95
+      ],
+      "asset_count": 9
+    },
+    "objects": [
+      {
+        "id": "CellShelfFactory(9321583).spawn_asset(6020011)",
+        "category": "cell_shelf",
+        "position": [
+          1.4,
+          -0.68,
+          0.43
+        ],
+        "dimensions": [
+          1.15,
+          0.3,
+          0.6
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "CellShelfFactory(9961719).spawn_asset(8619204)",
+        "category": "cell_shelf",
+        "position": [
+          0.06,
+          1.89,
+          0.54
+        ],
+        "dimensions": [
+          0.83,
+          0.34,
+          0.83
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "DishwasherFactory(7988868).spawn_asset(4306332)",
+        "category": "dishwasher",
+        "position": [
+          -0.99,
+          1.24,
+          0.61
+        ],
+        "dimensions": [
+          1.01,
+          1.12,
+          0.96
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "KitchenSpaceFactory(9671375).spawn_asset(696202)",
+        "category": "kitchen_space",
+        "position": [
+          -1.11,
+          -0.25,
+          1.29
+        ],
+        "dimensions": [
+          1.81,
+          0.8,
+          2.32
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(4360361).spawn_asset(4669059)",
+        "category": "large_plant_container",
+        "position": [
+          1.25,
+          0.51,
+          0.45
+        ],
+        "dimensions": [
+          0.41,
+          0.46,
+          0.63
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(2446043).spawn_asset(2753974)",
+        "category": "oven",
+        "position": [
+          1.01,
+          1.47,
+          0.77
+        ],
+        "dimensions": [
+          0.86,
+          1.16,
+          1.28
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(3743771).spawn_asset(1405359)",
+        "category": "single_cabinet",
+        "position": [
+          1.36,
+          -1.68,
+          0.87
+        ],
+        "dimensions": [
+          0.62,
+          0.34,
+          1.48
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "WallArtFactory(2231436).spawn_asset(5930524)",
+        "category": "wall_art",
+        "position": [
+          -1.09,
+          2.12,
+          1.61
+        ],
+        "dimensions": [
+          0.54,
+          0.02,
+          0.58
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "WallArtFactory(4552203).spawn_asset(8042978)",
+        "category": "wall_art",
+        "position": [
+          1.62,
+          -0.63,
+          1.56
+        ],
+        "dimensions": [
+          0.55,
+          0.01,
+          1.08
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694283/metadata.json b/kitchen/kitchen_s1256694283/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc04e5b65a37c47c6549dc4a3dc63c9df59d254
--- /dev/null
+++ b/kitchen/kitchen_s1256694283/metadata.json
@@ -0,0 +1,111 @@
+{
+  "scene_id": "kitchen_s1256694283",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1489,
+    "hue_std": 0.6027,
+    "mean_value": 0.577,
+    "mean_gradient": 0.0116,
+    "entropy": 7.6886
+  },
+  "camera": {
+    "location": [
+      0.8124173879623413,
+      0.5200145244598389,
+      1.997984766960144
+    ],
+    "rotation_euler": [
+      0.7643795609474182,
+      0.035148490220308304,
+      2.1798901557922363
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 2.0,
+    "distance_to_center": 0.96
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cellshelffactory_9321583_spawn_asset_6020011_001",
+      "9": "cellshelffactory_9321583_spawn_placeholder_6020011_001",
+      "11": "cellshelffactory_9961719_spawn_asset_8619204_001",
+      "13": "cellshelffactory_9961719_spawn_placeholder_8619204_001",
+      "15": "cube_001",
+      "17": "cube_001_001",
+      "19": "dishwasherfactory_7988868_bbox_placeholder_4306332_001",
+      "21": "dishwasherfactory_7988868_spawn_asset_4306332_001",
+      "40": "kitchenspacefactory_9671375_spawn_asset_696202_001",
+      "42": "kitchenspacefactory_9671375_spawn_placeholder_696202_001",
+      "44": "largeplantcontainerfactory_4360361_spawn_asset_4669059_001",
+      "46": "largeplantcontainerfactory_4360361_spawn_placeholder_4669059_001",
+      "52": "mesh_001",
+      "54": "ovenfactory_2446043_bbox_placeholder_2753974_001",
+      "56": "ovenfactory_2446043_spawn_asset_2753974_001",
+      "24": "paneldoorfactory_5533360_spawn_asset_0_001",
+      "59": "plane_001",
+      "61": "singlecabinetfactory_3743771_spawn_asset_1405359_001",
+      "63": "singlecabinetfactory_3743771_spawn_placeholder_1405359_001",
+      "69": "wallartfactory_2231436_spawn_asset_5930524_001",
+      "71": "wallartfactory_2231436_spawn_placeholder_5930524_001",
+      "73": "wallartfactory_4552203_spawn_asset_8042978_001",
+      "75": "wallartfactory_4552203_spawn_placeholder_8042978_001",
+      "78": "windowfactory_81804_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "23": "door_001",
+      "26": "infinigen_version_1_19_1_001",
+      "28": "kitchen_0_0_001",
+      "30": "kitchen_0_0_ceiling_001",
+      "32": "kitchen_0_0_exterior_001",
+      "34": "kitchen_0_0_floor_001",
+      "36": "kitchen_0_0_meshed_001",
+      "38": "kitchen_0_0_wall_001",
+      "48": "living_ceiling_0_0_001",
+      "50": "living_ceiling_1_0_001",
+      "65": "skirtingboard_ceiling_001",
+      "67": "skirtingboard_support_001",
+      "77": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694283/objects_in_view.json b/kitchen/kitchen_s1256694283/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa9336963263ee7d295157907be0e398e5107dd
--- /dev/null
+++ b/kitchen/kitchen_s1256694283/objects_in_view.json
@@ -0,0 +1,25 @@
+{
+  "scene_id": "kitchen_s1256694283",
+  "categories_in_view_count": 2,
+  "categories_in_view": [
+    "dishwasher",
+    "kitchen_space"
+  ],
+  "objects_in_view_count": 2,
+  "objects": [
+    {
+      "id": "DishwasherFactory(7988868).spawn_asset(4306332)",
+      "category": "dishwasher",
+      "actual_pixels": 126766,
+      "truncation_ratio": 0.3659,
+      "near_edge": true
+    },
+    {
+      "id": "KitchenSpaceFactory(9671375).spawn_asset(696202)",
+      "category": "kitchen_space",
+      "actual_pixels": 169829,
+      "truncation_ratio": 0.2449,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694284/GT.json b/kitchen/kitchen_s1256694284/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..899c71836f3f2451815804c50e430cff46159b23
--- /dev/null
+++ b/kitchen/kitchen_s1256694284/GT.json
@@ -0,0 +1,151 @@
+{
+  "scene_id": "kitchen_s1256694284",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.25,
+        3.88,
+        3.34
+      ],
+      "asset_count": 9
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(4188101).spawn_asset(7320421)",
+        "category": "beverage_fridge",
+        "position": [
+          -1.47,
+          -0.98,
+          0.63
+        ],
+        "dimensions": [
+          0.91,
+          1.18,
+          1.0
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "CellShelfFactory(1962352).spawn_asset(9441759)",
+        "category": "cell_shelf",
+        "position": [
+          -0.29,
+          1.59,
+          0.59
+        ],
+        "dimensions": [
+          1.35,
+          0.43,
+          0.93
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "DishwasherFactory(9365135).spawn_asset(5354742)",
+        "category": "dishwasher",
+        "position": [
+          0.88,
+          -1.23,
+          0.65
+        ],
+        "dimensions": [
+          0.67,
+          1.16,
+          1.05
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "KitchenSpaceFactory(713293).spawn_asset(1074627)",
+        "category": "kitchen_space",
+        "position": [
+          -1.54,
+          0.71,
+          1.3
+        ],
+        "dimensions": [
+          2.31,
+          0.93,
+          2.35
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(5885789).spawn_asset(3099266)",
+        "category": "large_plant_container",
+        "position": [
+          1.77,
+          -1.42,
+          0.53
+        ],
+        "dimensions": [
+          0.41,
+          0.51,
+          0.79
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "MirrorFactory(5240699).spawn_asset(3529138)",
+        "category": "mirror",
+        "position": [
+          2.11,
+          -0.03,
+          2.09
+        ],
+        "dimensions": [
+          2.0,
+          0.01,
+          0.72
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "OvenFactory(2855089).spawn_asset(6780738)",
+        "category": "oven",
+        "position": [
+          1.4,
+          0.91,
+          0.92
+        ],
+        "dimensions": [
+          0.78,
+          1.31,
+          1.58
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(8427478).spawn_asset(9482459)",
+        "category": "simple_bookcase",
+        "position": [
+          1.79,
+          -0.07,
+          0.91
+        ],
+        "dimensions": [
+          1.03,
+          0.52,
+          1.57
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "WallArtFactory(6199304).spawn_asset(7748124)",
+        "category": "wall_art",
+        "position": [
+          -2.11,
+          -0.97,
+          1.79
+        ],
+        "dimensions": [
+          0.54,
+          0.01,
+          0.6
+        ],
+        "rotation_yaw": 270
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694284/metadata.json b/kitchen/kitchen_s1256694284/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..83427ed0021635f5a6d85382bf738ed28afc5a1c
--- /dev/null
+++ b/kitchen/kitchen_s1256694284/metadata.json
@@ -0,0 +1,110 @@
+{
+  "scene_id": "kitchen_s1256694284",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1627,
+    "hue_std": 1.1657,
+    "mean_value": 0.5688,
+    "mean_gradient": 0.0123,
+    "entropy": 7.5053
+  },
+  "camera": {
+    "location": [
+      -1.4745782613754272,
+      -1.858563780784607,
+      1.9372212886810303
+    ],
+    "rotation_euler": [
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694284/objects_in_view.json b/kitchen/kitchen_s1256694284/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ede2ecdaab0df50de26285eaf1609d98f30bd4a
--- /dev/null
+++ b/kitchen/kitchen_s1256694284/objects_in_view.json
@@ -0,0 +1,65 @@
+{
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1256694285/GT.json
@@ -0,0 +1,151 @@
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..a07115bd9758b3cb5cf33c731d49605c1a110581
--- /dev/null
+++ b/kitchen/kitchen_s1256694285/metadata.json
@@ -0,0 +1,111 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694285/objects_in_view.json b/kitchen/kitchen_s1256694285/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..e502bb598f56a10c204c468c4b1b3390519644e1
--- /dev/null
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1256694286/GT.json
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..0a0666c4fb5cddc273aa3f8243da428027cfcfdd
--- /dev/null
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\ No newline at end of file
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new file mode 100644
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new file mode 100644
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@@ -0,0 +1,166 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694287/objects_in_view.json b/kitchen/kitchen_s1256694287/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3e73699d64fa7602ca9f53f2355f726669644b
--- /dev/null
+++ b/kitchen/kitchen_s1256694287/objects_in_view.json
@@ -0,0 +1,48 @@
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694288/GT.json b/kitchen/kitchen_s1256694288/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..60b6d6572492a4491f415444d932a0e401ccffdb
--- /dev/null
+++ b/kitchen/kitchen_s1256694288/GT.json
@@ -0,0 +1,91 @@
+{
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..7c38ed3fba867cb1aa0ab7ddbc587e71ad731cf6
--- /dev/null
+++ b/kitchen/kitchen_s1256694288/metadata.json
@@ -0,0 +1,103 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1256694288/objects_in_view.json b/kitchen/kitchen_s1256694288/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..104b982bea4614f285ad26d45533a3ddcceb9686
--- /dev/null
+++ b/kitchen/kitchen_s1256694288/objects_in_view.json
@@ -0,0 +1,41 @@
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+      "65": "skirtingboard_ceiling_001",
+      "67": "skirtingboard_support_001",
+      "73": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786394/objects_in_view.json b/kitchen/kitchen_s1311786394/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c1a08076de25d7fba766fe9873f597e7ff5137f
--- /dev/null
+++ b/kitchen/kitchen_s1311786394/objects_in_view.json
@@ -0,0 +1,65 @@
+{
+  "scene_id": "kitchen_s1311786394",
+  "categories_in_view_count": 7,
+  "categories_in_view": [
+    "beverage_fridge",
+    "dishwasher",
+    "kitchen_space",
+    "large_plant_container",
+    "mirror",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 7,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(4559275).spawn_asset(1907437)",
+      "category": "beverage_fridge",
+      "actual_pixels": 93633,
+      "truncation_ratio": 0.1307,
+      "near_edge": true
+    },
+    {
+      "id": "DishwasherFactory(1398943).spawn_asset(4241397)",
+      "category": "dishwasher",
+      "actual_pixels": 26924,
+      "truncation_ratio": 0.7017,
+      "near_edge": false
+    },
+    {
+      "id": "KitchenSpaceFactory(9421914).spawn_asset(5928346)",
+      "category": "kitchen_space",
+      "actual_pixels": 180519,
+      "truncation_ratio": 0.824,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(5218591).spawn_asset(6630415)",
+      "category": "large_plant_container",
+      "actual_pixels": 2023,
+      "truncation_ratio": 0.9462,
+      "near_edge": false
+    },
+    {
+      "id": "MirrorFactory(5013757).spawn_asset(4519654)",
+      "category": "mirror",
+      "actual_pixels": 4317,
+      "truncation_ratio": 0.6293,
+      "near_edge": true
+    },
+    {
+      "id": "OvenFactory(969626).spawn_asset(7062114)",
+      "category": "oven",
+      "actual_pixels": 177373,
+      "truncation_ratio": 0.9847,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(4841146).spawn_asset(3704433)",
+      "category": "single_cabinet",
+      "actual_pixels": 75730,
+      "truncation_ratio": 0.5603,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786395/GT.json b/kitchen/kitchen_s1311786395/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..4586c919eb2dc1aa16f3608e85398088fe4ec607
--- /dev/null
+++ b/kitchen/kitchen_s1311786395/GT.json
@@ -0,0 +1,121 @@
+{
+  "scene_id": "kitchen_s1311786395",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.75,
+        3.88,
+        3.63
+      ],
+      "asset_count": 7
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(5972913).spawn_asset(8357956)",
+        "category": "beverage_fridge",
+        "position": [
+          0.92,
+          -1.3,
+          0.74
+        ],
+        "dimensions": [
+          0.94,
+          1.0,
+          1.23
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "KitchenSpaceFactory(3934714).spawn_asset(4039077)",
+        "category": "kitchen_space",
+        "position": [
+          1.89,
+          0.48,
+          1.33
+        ],
+        "dimensions": [
+          2.77,
+          0.76,
+          2.42
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(9925226).spawn_asset(6339861)",
+        "category": "large_plant_container",
+        "position": [
+          -2.14,
+          1.53,
+          0.53
+        ],
+        "dimensions": [
+          0.46,
+          0.37,
+          0.78
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(6632840).spawn_asset(8364119)",
+        "category": "oven",
+        "position": [
+          -1.63,
+          0.6,
+          0.92
+        ],
+        "dimensions": [
+          0.93,
+          1.34,
+          1.59
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SimpleBookcaseFactory(3192329).spawn_asset(727173)",
+        "category": "simple_bookcase",
+        "position": [
+          -2.11,
+          -0.74,
+          0.93
+        ],
+        "dimensions": [
+          1.08,
+          0.39,
+          1.62
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(3230684).spawn_asset(4219296)",
+        "category": "single_cabinet",
+        "position": [
+          0.78,
+          1.61,
+          0.9
+        ],
+        "dimensions": [
+          0.54,
+          0.34,
+          1.54
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(5251872).spawn_asset(3928529)",
+        "category": "single_cabinet",
+        "position": [
+          -1.46,
+          -1.63,
+          0.95
+        ],
+        "dimensions": [
+          0.46,
+          0.3,
+          1.64
+        ],
+        "rotation_yaw": 0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786395/metadata.json b/kitchen/kitchen_s1311786395/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ac893ea11d8a3a0faf55e048591777f8218cd2
--- /dev/null
+++ b/kitchen/kitchen_s1311786395/metadata.json
@@ -0,0 +1,107 @@
+{
+  "scene_id": "kitchen_s1311786395",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.095,
+    "hue_std": 1.0436,
+    "mean_value": 0.6615,
+    "mean_gradient": 0.008,
+    "entropy": 7.0564
+  },
+  "camera": {
+    "location": [
+      1.4217051267623901,
+      0.9740025997161865,
+      1.7249407768249512
+    ],
+    "rotation_euler": [
+      1.2368035316467285,
+      0.01774839125573635,
+      2.092164993286133
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.72,
+    "distance_to_center": 1.72
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.36,
+        "metallic": 0.0,
+        "specular": 0.3
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.31,
+        "metallic": 0.0,
+        "specular": 0.3
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_5972913_bbox_placeholder_8357956_001",
+      "5": "beveragefridgefactory_5972913_spawn_asset_8357956_001",
+      "7": "b_ziercurve_001",
+      "13": "cube_001",
+      "15": "cube_001_001",
+      "34": "kitchenspacefactory_3934714_spawn_asset_4039077_001",
+      "36": "kitchenspacefactory_3934714_spawn_placeholder_4039077_001",
+      "38": "largeplantcontainerfactory_9925226_spawn_asset_6339861_001",
+      "40": "largeplantcontainerfactory_9925226_spawn_placeholder_6339861_001",
+      "46": "ovenfactory_6632840_bbox_placeholder_8364119_001",
+      "48": "ovenfactory_6632840_spawn_asset_8364119_001",
+      "18": "paneldoorfactory_7358833_spawn_asset_0_001",
+      "51": "plane_001",
+      "53": "simplebookcasefactory_3192329_bbox_placeholder_727173_001",
+      "55": "simplebookcasefactory_3192329_spawn_asset_727173_001",
+      "57": "singlecabinetfactory_3230684_spawn_asset_4219296_001",
+      "59": "singlecabinetfactory_3230684_spawn_placeholder_4219296_001",
+      "61": "singlecabinetfactory_5251872_spawn_asset_3928529_001",
+      "63": "singlecabinetfactory_5251872_spawn_placeholder_3928529_001",
+      "70": "windowfactory_95165_spawn_asset_0_001",
+      "9": "camera_0_0_001",
+      "11": "camrig_0_001",
+      "17": "door_001",
+      "20": "infinigen_version_1_19_1_001",
+      "22": "kitchen_0_0_001",
+      "24": "kitchen_0_0_ceiling_001",
+      "26": "kitchen_0_0_exterior_001",
+      "28": "kitchen_0_0_floor_001",
+      "30": "kitchen_0_0_meshed_001",
+      "32": "kitchen_0_0_wall_001",
+      "42": "living_ceiling_0_0_001",
+      "44": "living_ceiling_0_1_001",
+      "65": "skirtingboard_ceiling_001",
+      "67": "skirtingboard_support_001",
+      "69": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786395/objects_in_view.json b/kitchen/kitchen_s1311786395/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..2802fab500005b2b32425caeda24351b89a36c26
--- /dev/null
+++ b/kitchen/kitchen_s1311786395/objects_in_view.json
@@ -0,0 +1,49 @@
+{
+  "scene_id": "kitchen_s1311786395",
+  "categories_in_view_count": 5,
+  "categories_in_view": [
+    "beverage_fridge",
+    "large_plant_container",
+    "oven",
+    "simple_bookcase",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 5,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(5972913).spawn_asset(8357956)",
+      "category": "beverage_fridge",
+      "actual_pixels": 130659,
+      "truncation_ratio": 0.5227,
+      "near_edge": true
+    },
+    {
+      "id": "LargePlantContainerFactory(9925226).spawn_asset(6339861)",
+      "category": "large_plant_container",
+      "actual_pixels": 6650,
+      "truncation_ratio": 0.9989,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(6632840).spawn_asset(8364119)",
+      "category": "oven",
+      "actual_pixels": 85324,
+      "truncation_ratio": 1.0002,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(3192329).spawn_asset(727173)",
+      "category": "simple_bookcase",
+      "actual_pixels": 39154,
+      "truncation_ratio": 0.9545,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(5251872).spawn_asset(3928529)",
+      "category": "single_cabinet",
+      "actual_pixels": 21503,
+      "truncation_ratio": 1.0002,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786396/GT.json b/kitchen/kitchen_s1311786396/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ceb3de452fbc5fec92fe37c591da368cb7af867
--- /dev/null
+++ b/kitchen/kitchen_s1311786396/GT.json
@@ -0,0 +1,136 @@
+{
+  "scene_id": "kitchen_s1311786396",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.75,
+        4.38,
+        2.93
+      ],
+      "asset_count": 8
+    },
+    "objects": [
+      {
+        "id": "CellShelfFactory(1698341).spawn_asset(5868494)",
+        "category": "cell_shelf",
+        "position": [
+          -0.0,
+          1.89,
+          0.53
+        ],
+        "dimensions": [
+          0.81,
+          0.34,
+          0.81
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "KitchenSpaceFactory(848119).spawn_asset(7695718)",
+        "category": "kitchen_space",
+        "position": [
+          -1.3,
+          -0.76,
+          1.35
+        ],
+        "dimensions": [
+          2.27,
+          0.91,
+          2.44
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(46053).spawn_asset(7253987)",
+        "category": "large_plant_container",
+        "position": [
+          -1.07,
+          1.72,
+          0.61
+        ],
+        "dimensions": [
+          0.55,
+          0.44,
+          0.95
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(1361094).spawn_asset(9780762)",
+        "category": "oven",
+        "position": [
+          1.1,
+          0.73,
+          0.93
+        ],
+        "dimensions": [
+          1.01,
+          1.41,
+          1.62
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(2170637).spawn_asset(4362449)",
+        "category": "simple_bookcase",
+        "position": [
+          1.08,
+          1.85,
+          0.77
+        ],
+        "dimensions": [
+          1.05,
+          0.41,
+          1.3
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SimpleBookcaseFactory(4080472).spawn_asset(6262406)",
+        "category": "simple_bookcase",
+        "position": [
+          -1.58,
+          1.04,
+          0.99
+        ],
+        "dimensions": [
+          1.16,
+          0.45,
+          1.73
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "WallArtFactory(2405739).spawn_asset(5900854)",
+        "category": "wall_art",
+        "position": [
+          -0.92,
+          2.11,
+          2.02
+        ],
+        "dimensions": [
+          0.47,
+          0.02,
+          0.85
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "WallArtFactory(5985258).spawn_asset(9813117)",
+        "category": "wall_art",
+        "position": [
+          1.23,
+          -2.11,
+          1.49
+        ],
+        "dimensions": [
+          1.18,
+          0.02,
+          1.19
+        ],
+        "rotation_yaw": 0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786396/metadata.json b/kitchen/kitchen_s1311786396/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec6e65a309241ff071dc03a3be4274b2446840d4
--- /dev/null
+++ b/kitchen/kitchen_s1311786396/metadata.json
@@ -0,0 +1,108 @@
+{
+  "scene_id": "kitchen_s1311786396",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1046,
+    "hue_std": 0.5599,
+    "mean_value": 0.7227,
+    "mean_gradient": 0.0098,
+    "entropy": 6.6349
+  },
+  "camera": {
+    "location": [
+      1.6693193912506104,
+      -1.9716836214065552,
+      1.8982659578323364
+    ],
+    "rotation_euler": [
+      1.2401611804962158,
+      0.045928582549095154,
+      0.7342497110366821
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.9,
+    "distance_to_center": 2.58
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.38,
+        "metallic": 0.0,
+        "specular": 0.3
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.75,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cellshelffactory_1698341_spawn_asset_5868494_001",
+      "9": "cellshelffactory_1698341_spawn_placeholder_5868494_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "32": "kitchenspacefactory_848119_spawn_asset_7695718_001",
+      "34": "kitchenspacefactory_848119_spawn_placeholder_7695718_001",
+      "36": "largeplantcontainerfactory_46053_spawn_asset_7253987_001",
+      "38": "largeplantcontainerfactory_46053_spawn_placeholder_7253987_001",
+      "44": "ovenfactory_1361094_bbox_placeholder_9780762_001",
+      "46": "ovenfactory_1361094_spawn_asset_9780762_001",
+      "16": "paneldoorfactory_8213107_spawn_asset_0_001",
+      "49": "plane_001",
+      "51": "simplebookcasefactory_2170637_bbox_placeholder_4362449_001",
+      "53": "simplebookcasefactory_2170637_spawn_asset_4362449_001",
+      "55": "simplebookcasefactory_4080472_bbox_placeholder_6262406_001",
+      "57": "simplebookcasefactory_4080472_spawn_asset_6262406_001",
+      "63": "wallartfactory_2405739_spawn_asset_5900854_001",
+      "65": "wallartfactory_2405739_spawn_placeholder_5900854_001",
+      "67": "wallartfactory_5985258_spawn_asset_9813117_001",
+      "69": "wallartfactory_5985258_spawn_placeholder_9813117_001",
+      "72": "windowfactory_46243_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "15": "door_001",
+      "18": "infinigen_version_1_19_1_001",
+      "20": "kitchen_0_0_001",
+      "22": "kitchen_0_0_ceiling_001",
+      "24": "kitchen_0_0_exterior_001",
+      "26": "kitchen_0_0_floor_001",
+      "28": "kitchen_0_0_meshed_001",
+      "30": "kitchen_0_0_wall_001",
+      "40": "living_ceiling_0_0_001",
+      "42": "living_ceiling_1_0_001",
+      "59": "skirtingboard_ceiling_001",
+      "61": "skirtingboard_support_001",
+      "71": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786396/objects_in_view.json b/kitchen/kitchen_s1311786396/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2efb657ac5162e3277ca206afd0ee4415149060
--- /dev/null
+++ b/kitchen/kitchen_s1311786396/objects_in_view.json
@@ -0,0 +1,64 @@
+{
+  "scene_id": "kitchen_s1311786396",
+  "categories_in_view_count": 6,
+  "categories_in_view": [
+    "cell_shelf",
+    "kitchen_space",
+    "large_plant_container",
+    "oven",
+    "simple_bookcase",
+    "wall_art"
+  ],
+  "objects_in_view_count": 7,
+  "objects": [
+    {
+      "id": "CellShelfFactory(1698341).spawn_asset(5868494)",
+      "category": "cell_shelf",
+      "actual_pixels": 966,
+      "truncation_ratio": 0.0763,
+      "near_edge": false
+    },
+    {
+      "id": "KitchenSpaceFactory(848119).spawn_asset(7695718)",
+      "category": "kitchen_space",
+      "actual_pixels": 229558,
+      "truncation_ratio": 0.8933,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(46053).spawn_asset(7253987)",
+      "category": "large_plant_container",
+      "actual_pixels": 2852,
+      "truncation_ratio": 1.0106,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(1361094).spawn_asset(9780762)",
+      "category": "oven",
+      "actual_pixels": 145744,
+      "truncation_ratio": 1.0002,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(2170637).spawn_asset(4362449)",
+      "category": "simple_bookcase",
+      "actual_pixels": 6876,
+      "truncation_ratio": 0.1359,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(4080472).spawn_asset(6262406)",
+      "category": "simple_bookcase",
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..aca73160c703cb599d8e839ee8785f717d1df19e
--- /dev/null
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@@ -0,0 +1,117 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786403/objects_in_view.json b/kitchen/kitchen_s1311786403/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bad10bf75041b067029ccaf5543d6f1a6194c7a
--- /dev/null
+++ b/kitchen/kitchen_s1311786403/objects_in_view.json
@@ -0,0 +1,64 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786404/GT.json b/kitchen/kitchen_s1311786404/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..3372850f16c2a707804e57abeb0613275988f1c9
--- /dev/null
+++ b/kitchen/kitchen_s1311786404/GT.json
@@ -0,0 +1,91 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786404/metadata.json b/kitchen/kitchen_s1311786404/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c333e723d8f764b48c67256bcabe212c8c59690
--- /dev/null
+++ b/kitchen/kitchen_s1311786404/metadata.json
@@ -0,0 +1,103 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1311786404/objects_in_view.json b/kitchen/kitchen_s1311786404/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6474dd3f2dc136d7ee5e8ed01e8e27633aef168
--- /dev/null
+++ b/kitchen/kitchen_s1311786404/objects_in_view.json
@@ -0,0 +1,41 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1311786405/GT.json
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832276/objects_in_view.json b/kitchen/kitchen_s1553832276/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..08fb46678ffbfd593bbbec5b1847ec4f150c33d9
--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832277/GT.json b/kitchen/kitchen_s1553832277/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..572bf6c18a9b2ad164d68377457613a8bbb75493
--- /dev/null
+++ b/kitchen/kitchen_s1553832277/GT.json
@@ -0,0 +1,121 @@
+{
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+        3.23
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,106 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,49 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1553832278/GT.json
@@ -0,0 +1,121 @@
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\ No newline at end of file
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new file mode 100644
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832283/metadata.json b/kitchen/kitchen_s1553832283/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ba6649d46d1ffa0e3cbd22f48504a240cebe368
--- /dev/null
+++ b/kitchen/kitchen_s1553832283/metadata.json
@@ -0,0 +1,107 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832283/objects_in_view.json b/kitchen/kitchen_s1553832283/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b291f211519f49647ccda0cc8ada96d063014f
--- /dev/null
+++ b/kitchen/kitchen_s1553832283/objects_in_view.json
@@ -0,0 +1,49 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832284/GT.json b/kitchen/kitchen_s1553832284/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ad077de76fc284b8b405e42422b6712f0cd1444
--- /dev/null
+++ b/kitchen/kitchen_s1553832284/GT.json
@@ -0,0 +1,91 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832284/metadata.json b/kitchen/kitchen_s1553832284/metadata.json
new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1553832284/metadata.json
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\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832284/objects_in_view.json b/kitchen/kitchen_s1553832284/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb04fe1237e4f96a286f5d7ce8ed4bb1fd3aceee
--- /dev/null
+++ b/kitchen/kitchen_s1553832284/objects_in_view.json
@@ -0,0 +1,40 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1553832285/GT.json
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\ No newline at end of file
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832285/objects_in_view.json b/kitchen/kitchen_s1553832285/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..565f1dc1fd42f00a6c25e47f90da0ae66d4ef76b
--- /dev/null
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@@ -0,0 +1,33 @@
+{
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+      "near_edge": false
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+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..1edca615491b8ef3dc9d5c9e4aae0b6838c6ee20
--- /dev/null
+++ b/kitchen/kitchen_s1553832286/GT.json
@@ -0,0 +1,196 @@
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+        4.88,
+        3.46
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..60b269b811b926bbc183a9f29467dbd4178f245b
--- /dev/null
+++ b/kitchen/kitchen_s1553832286/metadata.json
@@ -0,0 +1,117 @@
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s1553832286/objects_in_view.json b/kitchen/kitchen_s1553832286/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..84e16d0122cf738d5169a8efebec7d6fd90b1132
--- /dev/null
+++ b/kitchen/kitchen_s1553832286/objects_in_view.json
@@ -0,0 +1,57 @@
+{
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+    "beverage_fridge",
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s1553832288/GT.json
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+  }
+}
\ No newline at end of file
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new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,121 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s284114082/GT.json
@@ -0,0 +1,91 @@
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+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s284114082/objects_in_view.json b/kitchen/kitchen_s284114082/objects_in_view.json
new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s284114082/objects_in_view.json
@@ -0,0 +1,33 @@
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114083/GT.json b/kitchen/kitchen_s284114083/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8130d708071fe69ff88e82daa53073553fe912d
--- /dev/null
+++ b/kitchen/kitchen_s284114083/GT.json
@@ -0,0 +1,106 @@
+{
+  "scene_id": "kitchen_s284114083",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.25,
+        3.88,
+        3.0
+      ],
+      "asset_count": 6
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(4574770).spawn_asset(5420929)",
+        "category": "beverage_fridge",
+        "position": [
+          0.31,
+          1.32,
+          0.63
+        ],
+        "dimensions": [
+          0.95,
+          0.97,
+          1.02
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "DishwasherFactory(5451290).spawn_asset(7725970)",
+        "category": "dishwasher",
+        "position": [
+          -1.53,
+          0.92,
+          0.78
+        ],
+        "dimensions": [
+          1.0,
+          1.05,
+          1.3
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "KitchenSpaceFactory(2108248).spawn_asset(7612105)",
+        "category": "kitchen_space",
+        "position": [
+          1.51,
+          -0.05,
+          1.36
+        ],
+        "dimensions": [
+          3.49,
+          1.0,
+          2.46
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(4525946).spawn_asset(6317090)",
+        "category": "large_plant_container",
+        "position": [
+          -1.29,
+          -1.47,
+          0.51
+        ],
+        "dimensions": [
+          0.62,
+          0.61,
+          0.74
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(2230666).spawn_asset(9470701)",
+        "category": "oven",
+        "position": [
+          -1.52,
+          -0.21,
+          0.98
+        ],
+        "dimensions": [
+          0.97,
+          1.08,
+          1.71
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SimpleBookcaseFactory(2995706).spawn_asset(4731896)",
+        "category": "simple_bookcase",
+        "position": [
+          -1.85,
+          -1.31,
+          0.95
+        ],
+        "dimensions": [
+          1.06,
+          0.4,
+          1.66
+        ],
+        "rotation_yaw": 270
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114083/metadata.json b/kitchen/kitchen_s284114083/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7dbc8477c563a9302ea57cfec62598fe70447f5
--- /dev/null
+++ b/kitchen/kitchen_s284114083/metadata.json
@@ -0,0 +1,104 @@
+{
+  "scene_id": "kitchen_s284114083",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1251,
+    "hue_std": 0.3888,
+    "mean_value": 0.7006,
+    "mean_gradient": 0.0075,
+    "entropy": 6.7408
+  },
+  "camera": {
+    "location": [
+      -0.5243505239486694,
+      -0.6060178875923157,
+      1.6505528688430786
+    ],
+    "rotation_euler": [
+      0.8795357346534729,
+      -0.022272249683737755,
+      -0.7284075021743774
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.65,
+    "distance_to_center": 0.8
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.35,
+          0.35,
+          0.26,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 1.0
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.42,
+        "metallic": 0.0,
+        "specular": 0.3
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_4574770_bbox_placeholder_5420929_001",
+      "5": "beveragefridgefactory_4574770_spawn_asset_5420929_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "15": "dishwasherfactory_5451290_bbox_placeholder_7725970_001",
+      "17": "dishwasherfactory_5451290_spawn_asset_7725970_001",
+      "36": "kitchenspacefactory_2108248_spawn_asset_7612105_001",
+      "38": "kitchenspacefactory_2108248_spawn_placeholder_7612105_001",
+      "40": "largeplantcontainerfactory_4525946_spawn_asset_6317090_001",
+      "42": "largeplantcontainerfactory_4525946_spawn_placeholder_6317090_001",
+      "48": "ovenfactory_2230666_bbox_placeholder_9470701_001",
+      "50": "ovenfactory_2230666_spawn_asset_9470701_001",
+      "20": "paneldoorfactory_3209263_spawn_asset_0_001",
+      "53": "plane_001",
+      "55": "simplebookcasefactory_2995706_bbox_placeholder_4731896_001",
+      "57": "simplebookcasefactory_2995706_spawn_asset_4731896_001",
+      "64": "windowfactory_9446_spawn_asset_0_001",
+      "7": "camera_0_0_001",
+      "9": "camrig_0_001",
+      "19": "door_001",
+      "22": "infinigen_version_1_19_1_001",
+      "24": "kitchen_0_0_001",
+      "26": "kitchen_0_0_ceiling_001",
+      "28": "kitchen_0_0_exterior_001",
+      "30": "kitchen_0_0_floor_001",
+      "32": "kitchen_0_0_meshed_001",
+      "34": "kitchen_0_0_wall_001",
+      "44": "living_ceiling_0_0_001",
+      "46": "living_ceiling_0_1_001",
+      "59": "skirtingboard_ceiling_001",
+      "61": "skirtingboard_support_001",
+      "63": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114083/objects_in_view.json b/kitchen/kitchen_s284114083/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cba469a076dc8b60f4e995e2686178755c75355
--- /dev/null
+++ b/kitchen/kitchen_s284114083/objects_in_view.json
@@ -0,0 +1,25 @@
+{
+  "scene_id": "kitchen_s284114083",
+  "categories_in_view_count": 2,
+  "categories_in_view": [
+    "beverage_fridge",
+    "kitchen_space"
+  ],
+  "objects_in_view_count": 2,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(4574770).spawn_asset(5420929)",
+      "category": "beverage_fridge",
+      "actual_pixels": 120431,
+      "truncation_ratio": 1.0001,
+      "near_edge": false
+    },
+    {
+      "id": "KitchenSpaceFactory(2108248).spawn_asset(7612105)",
+      "category": "kitchen_space",
+      "actual_pixels": 302539,
+      "truncation_ratio": 0.1334,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114084/GT.json b/kitchen/kitchen_s284114084/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed5f93b106e04f8196f1cfa62eb781bafab368c5
--- /dev/null
+++ b/kitchen/kitchen_s284114084/GT.json
@@ -0,0 +1,166 @@
+{
+  "scene_id": "kitchen_s284114084",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.25,
+        3.88,
+        3.58
+      ],
+      "asset_count": 10
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(6091986).spawn_asset(3616498)",
+        "category": "beverage_fridge",
+        "position": [
+          1.43,
+          -0.16,
+          0.69
+        ],
+        "dimensions": [
+          1.09,
+          1.25,
+          1.12
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "DishwasherFactory(6505599).spawn_asset(6340555)",
+        "category": "dishwasher",
+        "position": [
+          -1.3,
+          1.24,
+          0.72
+        ],
+        "dimensions": [
+          0.9,
+          1.51,
+          1.19
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "KitchenSpaceFactory(9745458).spawn_asset(9174054)",
+        "category": "kitchen_space",
+        "position": [
+          -1.57,
+          -0.29,
+          1.28
+        ],
+        "dimensions": [
+          2.0,
+          0.89,
+          2.3
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(6468109).spawn_asset(9941057)",
+        "category": "large_plant_container",
+        "position": [
+          1.73,
+          0.96,
+          0.62
+        ],
+        "dimensions": [
+          0.66,
+          0.43,
+          0.96
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(6753366).spawn_asset(2226656)",
+        "category": "oven",
+        "position": [
+          1.48,
+          -1.28,
+          0.74
+        ],
+        "dimensions": [
+          0.97,
+          1.15,
+          1.24
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SingleCabinetFactory(6761444).spawn_asset(1516540)",
+        "category": "single_cabinet",
+        "position": [
+          1.63,
+          1.58,
+          1.0
+        ],
+        "dimensions": [
+          0.42,
+          0.38,
+          1.74
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(6957188).spawn_asset(1312741)",
+        "category": "single_cabinet",
+        "position": [
+          0.94,
+          1.62,
+          0.63
+        ],
+        "dimensions": [
+          0.66,
+          0.32,
+          1.01
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(9651142).spawn_asset(2140606)",
+        "category": "single_cabinet",
+        "position": [
+          -0.72,
+          -1.61,
+          0.89
+        ],
+        "dimensions": [
+          0.49,
+          0.34,
+          1.53
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "WallArtFactory(7125777).spawn_asset(5270946)",
+        "category": "wall_art",
+        "position": [
+          2.11,
+          0.1,
+          1.92
+        ],
+        "dimensions": [
+          0.89,
+          0.02,
+          0.51
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "WallArtFactory(8725362).spawn_asset(7862665)",
+        "category": "wall_art",
+        "position": [
+          -2.11,
+          1.2,
+          2.27
+        ],
+        "dimensions": [
+          0.59,
+          0.01,
+          1.9
+        ],
+        "rotation_yaw": 270
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114084/metadata.json b/kitchen/kitchen_s284114084/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3d44c23de3dc8ee77683fb8f867d9d8a955fcb7
--- /dev/null
+++ b/kitchen/kitchen_s284114084/metadata.json
@@ -0,0 +1,113 @@
+{
+  "scene_id": "kitchen_s284114084",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1431,
+    "hue_std": 0.8747,
+    "mean_value": 0.618,
+    "mean_gradient": 0.0114,
+    "entropy": 7.2142
+  },
+  "camera": {
+    "location": [
+      -0.6938005685806274,
+      -0.8502411246299744,
+      1.5211960077285767
+    ],
+    "rotation_euler": [
+      1.2055491209030151,
+      0.013129021041095257,
+      -0.7380431890487671
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.52,
+    "distance_to_center": 1.1
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.44,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.8,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_6091986_bbox_placeholder_3616498_001",
+      "5": "beveragefridgefactory_6091986_spawn_asset_3616498_001",
+      "7": "b_ziercurve_001",
+      "13": "cube_001",
+      "15": "cube_001_001",
+      "17": "dishwasherfactory_6505599_bbox_placeholder_6340555_001",
+      "19": "dishwasherfactory_6505599_spawn_asset_6340555_001",
+      "38": "kitchenspacefactory_9745458_spawn_asset_9174054_001",
+      "40": "kitchenspacefactory_9745458_spawn_placeholder_9174054_001",
+      "42": "largeplantcontainerfactory_6468109_spawn_asset_9941057_001",
+      "44": "largeplantcontainerfactory_6468109_spawn_placeholder_9941057_001",
+      "50": "ovenfactory_6753366_bbox_placeholder_2226656_001",
+      "52": "ovenfactory_6753366_spawn_asset_2226656_001",
+      "22": "paneldoorfactory_7869498_spawn_asset_0_001",
+      "55": "plane_001",
+      "57": "singlecabinetfactory_6761444_spawn_asset_1516540_001",
+      "59": "singlecabinetfactory_6761444_spawn_placeholder_1516540_001",
+      "61": "singlecabinetfactory_6957188_spawn_asset_1312741_001",
+      "63": "singlecabinetfactory_6957188_spawn_placeholder_1312741_001",
+      "65": "singlecabinetfactory_9651142_spawn_asset_2140606_001",
+      "67": "singlecabinetfactory_9651142_spawn_placeholder_2140606_001",
+      "73": "wallartfactory_7125777_spawn_asset_5270946_001",
+      "75": "wallartfactory_7125777_spawn_placeholder_5270946_001",
+      "77": "wallartfactory_8725362_spawn_asset_7862665_001",
+      "79": "wallartfactory_8725362_spawn_placeholder_7862665_001",
+      "82": "windowfactory_55705_spawn_asset_0_001",
+      "9": "camera_0_0_001",
+      "11": "camrig_0_001",
+      "21": "door_001",
+      "24": "infinigen_version_1_19_1_001",
+      "26": "kitchen_0_0_001",
+      "28": "kitchen_0_0_ceiling_001",
+      "30": "kitchen_0_0_exterior_001",
+      "32": "kitchen_0_0_floor_001",
+      "34": "kitchen_0_0_meshed_001",
+      "36": "kitchen_0_0_wall_001",
+      "46": "living_ceiling_0_0_001",
+      "48": "living_ceiling_0_1_001",
+      "69": "skirtingboard_ceiling_001",
+      "71": "skirtingboard_support_001",
+      "81": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114084/objects_in_view.json b/kitchen/kitchen_s284114084/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fed6d5d0dfabcfaa5fed32f57bd2f51e67ab9df
--- /dev/null
+++ b/kitchen/kitchen_s284114084/objects_in_view.json
@@ -0,0 +1,64 @@
+{
+  "scene_id": "kitchen_s284114084",
+  "categories_in_view_count": 6,
+  "categories_in_view": [
+    "beverage_fridge",
+    "dishwasher",
+    "large_plant_container",
+    "oven",
+    "single_cabinet",
+    "wall_art"
+  ],
+  "objects_in_view_count": 7,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(6091986).spawn_asset(3616498)",
+      "category": "beverage_fridge",
+      "actual_pixels": 176568,
+      "truncation_ratio": 1.0013,
+      "near_edge": false
+    },
+    {
+      "id": "DishwasherFactory(6505599).spawn_asset(6340555)",
+      "category": "dishwasher",
+      "actual_pixels": 105355,
+      "truncation_ratio": 0.099,
+      "near_edge": true
+    },
+    {
+      "id": "LargePlantContainerFactory(6468109).spawn_asset(9941057)",
+      "category": "large_plant_container",
+      "actual_pixels": 2756,
+      "truncation_ratio": 0.3536,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(6753366).spawn_asset(2226656)",
+      "category": "oven",
+      "actual_pixels": 48458,
+      "truncation_ratio": 0.0609,
+      "near_edge": true
+    },
+    {
+      "id": "SingleCabinetFactory(6761444).spawn_asset(1516540)",
+      "category": "single_cabinet",
+      "actual_pixels": 31270,
+      "truncation_ratio": 0.9603,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(6957188).spawn_asset(1312741)",
+      "category": "single_cabinet",
+      "actual_pixels": 28554,
+      "truncation_ratio": 0.9998,
+      "near_edge": false
+    },
+    {
+      "id": "WallArtFactory(7125777).spawn_asset(5270946)",
+      "category": "wall_art",
+      "actual_pixels": 22234,
+      "truncation_ratio": 0.5404,
+      "near_edge": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s284114085/GT.json b/kitchen/kitchen_s284114085/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b5a92788e5976dc5108e82f94c65327fa8113a
--- /dev/null
+++ b/kitchen/kitchen_s284114085/GT.json
@@ -0,0 +1,151 @@
+{
+  "scene_id": "kitchen_s284114085",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.75,
+        4.88,
+        3.38
+      ],
+      "asset_count": 9
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(8001515).spawn_asset(4439047)",
+        "category": "beverage_fridge",
+        "position": [
+          -0.22,
+          1.65,
+          0.63
+        ],
+        "dimensions": [
+          1.2,
+          1.31,
+          1.01
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "CellShelfFactory(534181).spawn_asset(7591491)",
+        "category": "cell_shelf",
+        "position": [
+          2.11,
+          0.39,
+          0.76
+        ],
+        "dimensions": [
+          1.28,
+          0.39,
+          1.28
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "CellShelfFactory(7975330).spawn_asset(1197538)",
+        "category": "cell_shelf",
+        "position": [
+          2.1,
+          1.73,
+          1.1
+        ],
+        "dimensions": [
+          1.01,
+          0.4,
+          1.95
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "DishwasherFactory(8231798).spawn_asset(9229699)",
+        "category": "dishwasher",
+        "position": [
+          0.99,
+          1.81,
+          0.62
+        ],
+        "dimensions": [
+          1.02,
+          1.0,
+          1.0
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "KitchenSpaceFactory(4658210).spawn_asset(1293861)",
+        "category": "kitchen_space",
+        "position": [
+          -1.76,
+          -0.54,
+          1.35
+        ],
+        "dimensions": [
+          3.07,
+          0.99,
+          2.44
+        ],
+        "rotation_yaw": 270
+      },
+      {
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+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..7cbc4884feb18a9ce2a004818d59aa9804d91e3a
--- /dev/null
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@@ -0,0 +1,110 @@
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..931272b6964541c94e83fa4f3769fa1a0ce20ae8
--- /dev/null
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\ No newline at end of file
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new file mode 100644
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new file mode 100644
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+++ b/kitchen/kitchen_s284114086/GT.json
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\ No newline at end of file
diff --git a/kitchen/kitchen_s284114086/metadata.json b/kitchen/kitchen_s284114086/metadata.json
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s284114086/objects_in_view.json b/kitchen/kitchen_s284114086/objects_in_view.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s46678739/GT.json b/kitchen/kitchen_s46678739/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ef84d40d2efead7bdf43e9521fd1adc50e547c
--- /dev/null
+++ b/kitchen/kitchen_s46678739/GT.json
@@ -0,0 +1,106 @@
+{
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678739/metadata.json b/kitchen/kitchen_s46678739/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5733bcc8650ed4d29c542ee1639a3e8f5690f48
--- /dev/null
+++ b/kitchen/kitchen_s46678739/metadata.json
@@ -0,0 +1,105 @@
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new file mode 100644
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\ No newline at end of file
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\ No newline at end of file
diff --git a/kitchen/kitchen_s46678741/objects_in_view.json b/kitchen/kitchen_s46678741/objects_in_view.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..cbb6a5a4cca8f992bf97da679c2cccc7085baba0
--- /dev/null
+++ b/kitchen/kitchen_s46678742/GT.json
@@ -0,0 +1,136 @@
+{
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new file mode 100644
index 0000000000000000000000000000000000000000..caf2c780925ea4e5ba23cc596a2ae5a1a9161582
--- /dev/null
+++ b/kitchen/kitchen_s46678742/metadata.json
@@ -0,0 +1,108 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s46678744/GT.json b/kitchen/kitchen_s46678744/GT.json
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--- /dev/null
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+          0.94,
+          1.12,
+          1.6
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(2716420).spawn_asset(308197)",
+        "category": "single_cabinet",
+        "position": [
+          -1.86,
+          -1.3,
+          0.71
+        ],
+        "dimensions": [
+          0.56,
+          0.34,
+          1.18
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(9147441).spawn_asset(5615701)",
+        "category": "single_cabinet",
+        "position": [
+          -1.85,
+          1.61,
+          0.76
+        ],
+        "dimensions": [
+          0.48,
+          0.36,
+          1.27
+        ],
+        "rotation_yaw": 270
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678744/metadata.json b/kitchen/kitchen_s46678744/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb3ee696add370adc0b5d2920bc2529fc0c0397
--- /dev/null
+++ b/kitchen/kitchen_s46678744/metadata.json
@@ -0,0 +1,107 @@
+{
+  "scene_id": "kitchen_s46678744",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.0477,
+    "hue_std": 0.8301,
+    "mean_value": 0.6632,
+    "mean_gradient": 0.0071,
+    "entropy": 6.347
+  },
+  "camera": {
+    "location": [
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+      -0.5445337891578674,
+      1.6578798294067383
+    ],
+    "rotation_euler": [
+      0.8376746773719788,
+      0.03997672349214554,
+      -0.8060665130615234
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.66,
+    "distance_to_center": 0.79
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.47,
+          0.42,
+          0.53,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 1.0
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "b_ziercurve_001",
+      "9": "cellshelffactory_5123000_spawn_asset_4466900_001",
+      "11": "cellshelffactory_5123000_spawn_placeholder_4466900_001",
+      "13": "cube_001",
+      "15": "cube_001_001",
+      "17": "dishwasherfactory_42811_bbox_placeholder_7380298_001",
+      "19": "dishwasherfactory_42811_spawn_asset_7380298_001",
+      "38": "kitchenspacefactory_1013166_spawn_asset_6116852_001",
+      "40": "kitchenspacefactory_1013166_spawn_placeholder_6116852_001",
+      "42": "largeplantcontainerfactory_4716902_spawn_asset_1197110_001",
+      "44": "largeplantcontainerfactory_4716902_spawn_placeholder_1197110_001",
+      "50": "ovenfactory_5033412_bbox_placeholder_9278353_001",
+      "52": "ovenfactory_5033412_spawn_asset_9278353_001",
+      "22": "paneldoorfactory_299038_spawn_asset_0_001",
+      "55": "plane_001",
+      "57": "singlecabinetfactory_2716420_spawn_asset_308197_001",
+      "59": "singlecabinetfactory_2716420_spawn_placeholder_308197_001",
+      "61": "singlecabinetfactory_9147441_spawn_asset_5615701_001",
+      "63": "singlecabinetfactory_9147441_spawn_placeholder_5615701_001",
+      "70": "windowfactory_99645_spawn_asset_0_001",
+      "5": "camera_0_0_001",
+      "7": "camrig_0_001",
+      "21": "door_001",
+      "24": "infinigen_version_1_19_1_001",
+      "26": "kitchen_0_0_001",
+      "28": "kitchen_0_0_ceiling_001",
+      "30": "kitchen_0_0_exterior_001",
+      "32": "kitchen_0_0_floor_001",
+      "34": "kitchen_0_0_meshed_001",
+      "36": "kitchen_0_0_wall_001",
+      "46": "living_ceiling_0_0_001",
+      "48": "living_ceiling_0_1_001",
+      "65": "skirtingboard_ceiling_001",
+      "67": "skirtingboard_support_001",
+      "69": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678744/objects_in_view.json b/kitchen/kitchen_s46678744/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..576b4f05e5c4fb7c77e96440b5f772747c11d964
--- /dev/null
+++ b/kitchen/kitchen_s46678744/objects_in_view.json
@@ -0,0 +1,25 @@
+{
+  "scene_id": "kitchen_s46678744",
+  "categories_in_view_count": 2,
+  "categories_in_view": [
+    "dishwasher",
+    "kitchen_space"
+  ],
+  "objects_in_view_count": 2,
+  "objects": [
+    {
+      "id": "DishwasherFactory(42811).spawn_asset(7380298)",
+      "category": "dishwasher",
+      "actual_pixels": 99612,
+      "truncation_ratio": 0.9999,
+      "near_edge": false
+    },
+    {
+      "id": "KitchenSpaceFactory(1013166).spawn_asset(6116852)",
+      "category": "kitchen_space",
+      "actual_pixels": 225207,
+      "truncation_ratio": 0.1325,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678745/GT.json b/kitchen/kitchen_s46678745/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e278d7d7fbfb8e64eb1b5f78acdff4e7feaf79f
--- /dev/null
+++ b/kitchen/kitchen_s46678745/GT.json
@@ -0,0 +1,121 @@
+{
+  "scene_id": "kitchen_s46678745",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        3.38,
+        2.75
+      ],
+      "asset_count": 7
+    },
+    "objects": [
+      {
+        "id": "KitchenSpaceFactory(719062).spawn_asset(2232168)",
+        "category": "kitchen_space",
+        "position": [
+          -1.04,
+          -0.16,
+          1.36
+        ],
+        "dimensions": [
+          2.39,
+          0.93,
+          2.47
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "OvenFactory(6620424).spawn_asset(6731195)",
+        "category": "oven",
+        "position": [
+          1.0,
+          0.17,
+          0.86
+        ],
+        "dimensions": [
+          1.0,
+          1.1,
+          1.47
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(2282800).spawn_asset(5432494)",
+        "category": "simple_bookcase",
+        "position": [
+          1.31,
+          -0.99,
+          0.81
+        ],
+        "dimensions": [
+          1.19,
+          0.49,
+          1.38
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(7972888).spawn_asset(9954730)",
+        "category": "simple_bookcase",
+        "position": [
+          0.92,
+          1.32,
+          0.84
+        ],
+        "dimensions": [
+          1.05,
+          0.47,
+          1.43
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(6403505).spawn_asset(5582696)",
+        "category": "single_cabinet",
+        "position": [
+          -1.37,
+          1.33,
+          0.78
+        ],
+        "dimensions": [
+          0.35,
+          0.33,
+          1.31
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "WallArtFactory(426802).spawn_asset(5583150)",
+        "category": "wall_art",
+        "position": [
+          1.61,
+          0.41,
+          2.16
+        ],
+        "dimensions": [
+          0.99,
+          0.02,
+          1.09
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "WallArtFactory(5182005).spawn_asset(214451)",
+        "category": "wall_art",
+        "position": [
+          -1.19,
+          -1.61,
+          1.35
+        ],
+        "dimensions": [
+          0.86,
+          0.01,
+          0.45
+        ],
+        "rotation_yaw": 0
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678745/metadata.json b/kitchen/kitchen_s46678745/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f56a78dd39a2e7fe01b30d5ee13c94451430c2d
--- /dev/null
+++ b/kitchen/kitchen_s46678745/metadata.json
@@ -0,0 +1,107 @@
+{
+  "scene_id": "kitchen_s46678745",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1533,
+    "hue_std": 0.7744,
+    "mean_value": 0.7123,
+    "mean_gradient": 0.0116,
+    "entropy": 7.26
+  },
+  "camera": {
+    "location": [
+      -0.4480995833873749,
+      1.4962977170944214,
+      1.7479362487792969
+    ],
+    "rotation_euler": [
+      1.1852784156799316,
+      -0.0614485964179039,
+      -2.7798688411712646
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.75,
+    "distance_to_center": 1.56
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.75,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "b_ziercurve_001",
+      "9": "cube_001",
+      "11": "cube_001_001",
+      "30": "kitchenspacefactory_719062_spawn_asset_2232168_001",
+      "32": "kitchenspacefactory_719062_spawn_placeholder_2232168_001",
+      "38": "ovenfactory_6620424_bbox_placeholder_6731195_001",
+      "40": "ovenfactory_6620424_spawn_asset_6731195_001",
+      "14": "paneldoorfactory_4992575_spawn_asset_0_001",
+      "43": "plane_001",
+      "45": "simplebookcasefactory_2282800_bbox_placeholder_5432494_001",
+      "47": "simplebookcasefactory_2282800_spawn_asset_5432494_001",
+      "49": "simplebookcasefactory_7972888_bbox_placeholder_9954730_001",
+      "51": "simplebookcasefactory_7972888_spawn_asset_9954730_001",
+      "53": "singlecabinetfactory_6403505_spawn_asset_5582696_001",
+      "55": "singlecabinetfactory_6403505_spawn_placeholder_5582696_001",
+      "61": "wallartfactory_426802_spawn_asset_5583150_001",
+      "63": "wallartfactory_426802_spawn_placeholder_5583150_001",
+      "65": "wallartfactory_5182005_spawn_asset_214451_001",
+      "67": "wallartfactory_5182005_spawn_placeholder_214451_001",
+      "70": "windowfactory_23105_spawn_asset_0_001",
+      "5": "camera_0_0_001",
+      "7": "camrig_0_001",
+      "13": "door_001",
+      "16": "infinigen_version_1_19_1_001",
+      "18": "kitchen_0_0_001",
+      "20": "kitchen_0_0_ceiling_001",
+      "22": "kitchen_0_0_exterior_001",
+      "24": "kitchen_0_0_floor_001",
+      "26": "kitchen_0_0_meshed_001",
+      "28": "kitchen_0_0_wall_001",
+      "34": "living_ceiling_0_0_001",
+      "36": "living_ceiling_1_0_001",
+      "57": "skirtingboard_ceiling_001",
+      "59": "skirtingboard_support_001",
+      "69": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678745/objects_in_view.json b/kitchen/kitchen_s46678745/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..51e473470e38fbcebde8cd86bd6b33308933820a
--- /dev/null
+++ b/kitchen/kitchen_s46678745/objects_in_view.json
@@ -0,0 +1,55 @@
+{
+  "scene_id": "kitchen_s46678745",
+  "categories_in_view_count": 4,
+  "categories_in_view": [
+    "kitchen_space",
+    "oven",
+    "simple_bookcase",
+    "wall_art"
+  ],
+  "objects_in_view_count": 6,
+  "objects": [
+    {
+      "id": "KitchenSpaceFactory(719062).spawn_asset(2232168)",
+      "category": "kitchen_space",
+      "actual_pixels": 212884,
+      "truncation_ratio": 0.0827,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(6620424).spawn_asset(6731195)",
+      "category": "oven",
+      "actual_pixels": 219879,
+      "truncation_ratio": 0.9078,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(2282800).spawn_asset(5432494)",
+      "category": "simple_bookcase",
+      "actual_pixels": 18613,
+      "truncation_ratio": 0.3077,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(7972888).spawn_asset(9954730)",
+      "category": "simple_bookcase",
+      "actual_pixels": 63082,
+      "truncation_ratio": 0.0657,
+      "near_edge": true
+    },
+    {
+      "id": "WallArtFactory(426802).spawn_asset(5583150)",
+      "category": "wall_art",
+      "actual_pixels": 30391,
+      "truncation_ratio": 0.0859,
+      "near_edge": true
+    },
+    {
+      "id": "WallArtFactory(5182005).spawn_asset(214451)",
+      "category": "wall_art",
+      "actual_pixels": 21391,
+      "truncation_ratio": 0.9055,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678746/GT.json b/kitchen/kitchen_s46678746/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..6adc4990084b7d54e261989038ce9f43a6abc6c8
--- /dev/null
+++ b/kitchen/kitchen_s46678746/GT.json
@@ -0,0 +1,91 @@
+{
+  "scene_id": "kitchen_s46678746",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        3.38,
+        3.17
+      ],
+      "asset_count": 5
+    },
+    "objects": [
+      {
+        "id": "KitchenSpaceFactory(7564845).spawn_asset(4369582)",
+        "category": "kitchen_space",
+        "position": [
+          1.13,
+          -0.35,
+          1.34
+        ],
+        "dimensions": [
+          2.18,
+          0.77,
+          2.44
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(1502779).spawn_asset(1299953)",
+        "category": "large_plant_container",
+        "position": [
+          0.9,
+          1.23,
+          0.57
+        ],
+        "dimensions": [
+          0.53,
+          0.42,
+          0.87
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(9813398).spawn_asset(5699222)",
+        "category": "oven",
+        "position": [
+          -0.94,
+          0.53,
+          0.76
+        ],
+        "dimensions": [
+          1.06,
+          1.22,
+          1.26
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(1229724).spawn_asset(339955)",
+        "category": "single_cabinet",
+        "position": [
+          -1.34,
+          -0.48,
+          1.02
+        ],
+        "dimensions": [
+          0.71,
+          0.37,
+          1.78
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(2130694).spawn_asset(8725779)",
+        "category": "single_cabinet",
+        "position": [
+          1.37,
+          1.06,
+          0.72
+        ],
+        "dimensions": [
+          0.44,
+          0.33,
+          1.19
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678746/metadata.json b/kitchen/kitchen_s46678746/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19457b2ae39e2b9b2dd84736c20e75e65a76bac4
--- /dev/null
+++ b/kitchen/kitchen_s46678746/metadata.json
@@ -0,0 +1,102 @@
+{
+  "scene_id": "kitchen_s46678746",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.198,
+    "hue_std": 0.531,
+    "mean_value": 0.6354,
+    "mean_gradient": 0.017,
+    "entropy": 7.3827
+  },
+  "camera": {
+    "location": [
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+      0.2180870771408081,
+      1.4865081310272217
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+    "rotation_euler": [
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+      0.022346163168549538,
+      1.8155536651611328
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.49,
+    "distance_to_center": 0.85
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
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+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.78,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cube_001",
+      "9": "cube_001_001",
+      "28": "kitchenspacefactory_7564845_spawn_asset_4369582_001",
+      "30": "kitchenspacefactory_7564845_spawn_placeholder_4369582_001",
+      "32": "largeplantcontainerfactory_1502779_spawn_asset_1299953_001",
+      "34": "largeplantcontainerfactory_1502779_spawn_placeholder_1299953_001",
+      "40": "ovenfactory_9813398_bbox_placeholder_5699222_001",
+      "42": "ovenfactory_9813398_spawn_asset_5699222_001",
+      "12": "paneldoorfactory_2913216_spawn_asset_0_001",
+      "45": "plane_001",
+      "47": "singlecabinetfactory_1229724_spawn_asset_339955_001",
+      "49": "singlecabinetfactory_1229724_spawn_placeholder_339955_001",
+      "51": "singlecabinetfactory_2130694_spawn_asset_8725779_001",
+      "53": "singlecabinetfactory_2130694_spawn_placeholder_8725779_001",
+      "60": "windowfactory_60616_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "11": "door_001",
+      "14": "infinigen_version_1_19_1_001",
+      "16": "kitchen_0_0_001",
+      "18": "kitchen_0_0_ceiling_001",
+      "20": "kitchen_0_0_exterior_001",
+      "22": "kitchen_0_0_floor_001",
+      "24": "kitchen_0_0_meshed_001",
+      "26": "kitchen_0_0_wall_001",
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+      "26": "kitchen_0_0_001",
+      "28": "kitchen_0_0_ceiling_001",
+      "30": "kitchen_0_0_exterior_001",
+      "32": "kitchen_0_0_floor_001",
+      "34": "kitchen_0_0_meshed_001",
+      "36": "kitchen_0_0_wall_001",
+      "46": "living_ceiling_0_0_001",
+      "48": "living_ceiling_1_0_001",
+      "69": "skirtingboard_ceiling_001",
+      "71": "skirtingboard_support_001",
+      "77": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678755/objects_in_view.json b/kitchen/kitchen_s46678755/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..35cb8adff60c0b378ad699d926189e10ee328dbd
--- /dev/null
+++ b/kitchen/kitchen_s46678755/objects_in_view.json
@@ -0,0 +1,41 @@
+{
+  "scene_id": "kitchen_s46678755",
+  "categories_in_view_count": 4,
+  "categories_in_view": [
+    "beverage_fridge",
+    "large_plant_container",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 4,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(3288939).spawn_asset(9922338)",
+      "category": "beverage_fridge",
+      "actual_pixels": 87932,
+      "truncation_ratio": 1.0016,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(8949490).spawn_asset(3317724)",
+      "category": "large_plant_container",
+      "actual_pixels": 14885,
+      "truncation_ratio": 0.7661,
+      "near_edge": true
+    },
+    {
+      "id": "OvenFactory(9526885).spawn_asset(1446199)",
+      "category": "oven",
+      "actual_pixels": 66746,
+      "truncation_ratio": 0.9165,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(3833291).spawn_asset(8938962)",
+      "category": "single_cabinet",
+      "actual_pixels": 46589,
+      "truncation_ratio": 0.3614,
+      "near_edge": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678756/GT.json b/kitchen/kitchen_s46678756/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ee36470252c3a3acd5f7d61a963514f3d02d08
--- /dev/null
+++ b/kitchen/kitchen_s46678756/GT.json
@@ -0,0 +1,91 @@
+{
+  "scene_id": "kitchen_s46678756",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        3.88,
+        3.42
+      ],
+      "asset_count": 5
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(6930560).spawn_asset(2696992)",
+        "category": "beverage_fridge",
+        "position": [
+          -0.92,
+          -1.38,
+          0.73
+        ],
+        "dimensions": [
+          0.86,
+          1.26,
+          1.21
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "CellShelfFactory(4719827).spawn_asset(3751551)",
+        "category": "cell_shelf",
+        "position": [
+          -0.01,
+          1.62,
+          0.61
+        ],
+        "dimensions": [
+          0.97,
+          0.38,
+          0.97
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "KitchenSpaceFactory(1896111).spawn_asset(318192)",
+        "category": "kitchen_space",
+        "position": [
+          -1.06,
+          0.09,
+          1.28
+        ],
+        "dimensions": [
+          1.93,
+          0.91,
+          2.31
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(8207359).spawn_asset(2997481)",
+        "category": "large_plant_container",
+        "position": [
+          -1.26,
+          1.62,
+          0.42
+        ],
+        "dimensions": [
+          0.45,
+          0.48,
+          0.57
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(5708982).spawn_asset(9173273)",
+        "category": "oven",
+        "position": [
+          1.1,
+          1.32,
+          0.8
+        ],
+        "dimensions": [
+          0.95,
+          0.97,
+          1.35
+        ],
+        "rotation_yaw": 180
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678756/metadata.json b/kitchen/kitchen_s46678756/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eac6b51fc835221c573b093d8914d11157dfda09
--- /dev/null
+++ b/kitchen/kitchen_s46678756/metadata.json
@@ -0,0 +1,103 @@
+{
+  "scene_id": "kitchen_s46678756",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.2685,
+    "hue_std": 0.5639,
+    "mean_value": 0.3869,
+    "mean_gradient": 0.0182,
+    "entropy": 7.4446
+  },
+  "camera": {
+    "location": [
+      1.1860456466674805,
+      0.1883121132850647,
+      1.579635500907898
+    ],
+    "rotation_euler": [
+      1.1891169548034668,
+      0.05268484354019165,
+      1.7067171335220337
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.58,
+    "distance_to_center": 1.2
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_6930560_bbox_placeholder_2696992_001",
+      "5": "beveragefridgefactory_6930560_spawn_asset_2696992_001",
+      "7": "b_ziercurve_001",
+      "13": "cellshelffactory_4719827_spawn_asset_3751551_001",
+      "15": "cellshelffactory_4719827_spawn_placeholder_3751551_001",
+      "17": "cube_001",
+      "19": "cube_001_001",
+      "38": "kitchenspacefactory_1896111_spawn_asset_318192_001",
+      "40": "kitchenspacefactory_1896111_spawn_placeholder_318192_001",
+      "42": "largeplantcontainerfactory_8207359_spawn_asset_2997481_001",
+      "44": "largeplantcontainerfactory_8207359_spawn_placeholder_2997481_001",
+      "50": "ovenfactory_5708982_bbox_placeholder_9173273_001",
+      "52": "ovenfactory_5708982_spawn_asset_9173273_001",
+      "22": "paneldoorfactory_8930793_spawn_asset_0_001",
+      "55": "plane_001",
+      "62": "windowfactory_61700_spawn_asset_0_001",
+      "9": "camera_0_0_001",
+      "11": "camrig_0_001",
+      "21": "door_001",
+      "24": "infinigen_version_1_19_1_001",
+      "26": "kitchen_0_0_001",
+      "28": "kitchen_0_0_ceiling_001",
+      "30": "kitchen_0_0_exterior_001",
+      "32": "kitchen_0_0_floor_001",
+      "34": "kitchen_0_0_meshed_001",
+      "36": "kitchen_0_0_wall_001",
+      "46": "living_ceiling_0_0_001",
+      "48": "living_ceiling_1_0_001",
+      "57": "skirtingboard_ceiling_001",
+      "59": "skirtingboard_support_001",
+      "61": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678756/objects_in_view.json b/kitchen/kitchen_s46678756/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..98aa51f8c4e8393eed59e4d7c8d4aa026bb8464b
--- /dev/null
+++ b/kitchen/kitchen_s46678756/objects_in_view.json
@@ -0,0 +1,41 @@
+{
+  "scene_id": "kitchen_s46678756",
+  "categories_in_view_count": 4,
+  "categories_in_view": [
+    "beverage_fridge",
+    "cell_shelf",
+    "kitchen_space",
+    "large_plant_container"
+  ],
+  "objects_in_view_count": 4,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(6930560).spawn_asset(2696992)",
+      "category": "beverage_fridge",
+      "actual_pixels": 113779,
+      "truncation_ratio": 0.8549,
+      "near_edge": false
+    },
+    {
+      "id": "CellShelfFactory(4719827).spawn_asset(3751551)",
+      "category": "cell_shelf",
+      "actual_pixels": 47656,
+      "truncation_ratio": 0.0938,
+      "near_edge": true
+    },
+    {
+      "id": "KitchenSpaceFactory(1896111).spawn_asset(318192)",
+      "category": "kitchen_space",
+      "actual_pixels": 262376,
+      "truncation_ratio": 0.6638,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(8207359).spawn_asset(2997481)",
+      "category": "large_plant_container",
+      "actual_pixels": 10830,
+      "truncation_ratio": 1.0024,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678757/GT.json b/kitchen/kitchen_s46678757/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..41314de0cf9fd6768c3df2d3de956c44200d28da
--- /dev/null
+++ b/kitchen/kitchen_s46678757/GT.json
@@ -0,0 +1,106 @@
+{
+  "scene_id": "kitchen_s46678757",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        4.25,
+        4.38,
+        3.57
+      ],
+      "asset_count": 6
+    },
+    "objects": [
+      {
+        "id": "KitchenSpaceFactory(2906418).spawn_asset(308822)",
+        "category": "kitchen_space",
+        "position": [
+          1.67,
+          -0.45,
+          1.35
+        ],
+        "dimensions": [
+          2.22,
+          0.7,
+          2.45
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(9272563).spawn_asset(9600016)",
+        "category": "large_plant_container",
+        "position": [
+          -1.86,
+          1.82,
+          0.43
+        ],
+        "dimensions": [
+          0.44,
+          0.47,
+          0.59
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "MirrorFactory(3887427).spawn_asset(5782598)",
+        "category": "mirror",
+        "position": [
+          -2.11,
+          -1.03,
+          1.8
+        ],
+        "dimensions": [
+          0.74,
+          0.01,
+          1.9
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "OvenFactory(963972).spawn_asset(8052684)",
+        "category": "oven",
+        "position": [
+          1.4,
+          1.21,
+          0.84
+        ],
+        "dimensions": [
+          0.94,
+          1.3,
+          1.43
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SimpleBookcaseFactory(7428933).spawn_asset(5557768)",
+        "category": "simple_bookcase",
+        "position": [
+          1.36,
+          -1.86,
+          0.8
+        ],
+        "dimensions": [
+          1.25,
+          0.39,
+          1.35
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "WallArtFactory(2657145).spawn_asset(3671426)",
+        "category": "wall_art",
+        "position": [
+          2.11,
+          1.23,
+          2.16
+        ],
+        "dimensions": [
+          0.42,
+          0.02,
+          0.86
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678757/metadata.json b/kitchen/kitchen_s46678757/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd28c2195aff63cc2a0cad089d0a3a9df8e437d4
--- /dev/null
+++ b/kitchen/kitchen_s46678757/metadata.json
@@ -0,0 +1,104 @@
+{
+  "scene_id": "kitchen_s46678757",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.0721,
+    "hue_std": 0.5629,
+    "mean_value": 0.7279,
+    "mean_gradient": 0.0109,
+    "entropy": 6.9579
+  },
+  "camera": {
+    "location": [
+      -1.7938340902328491,
+      1.2794978618621826,
+      1.7044392824172974
+    ],
+    "rotation_euler": [
+      1.3003133535385132,
+      -0.04996686056256294,
+      -2.191300630569458
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.7,
+    "distance_to_center": 2.2
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.74,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": true
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cube_001",
+      "9": "cube_001_001",
+      "28": "kitchenspacefactory_2906418_spawn_asset_308822_001",
+      "30": "kitchenspacefactory_2906418_spawn_placeholder_308822_001",
+      "32": "largeplantcontainerfactory_9272563_spawn_asset_9600016_001",
+      "34": "largeplantcontainerfactory_9272563_spawn_placeholder_9600016_001",
+      "40": "mirrorfactory_3887427_spawn_asset_5782598_001",
+      "42": "mirrorfactory_3887427_spawn_placeholder_5782598_001",
+      "44": "ovenfactory_963972_bbox_placeholder_8052684_001",
+      "46": "ovenfactory_963972_spawn_asset_8052684_001",
+      "12": "paneldoorfactory_9014072_spawn_asset_0_001",
+      "49": "plane_001",
+      "51": "simplebookcasefactory_7428933_bbox_placeholder_5557768_001",
+      "53": "simplebookcasefactory_7428933_spawn_asset_5557768_001",
+      "59": "wallartfactory_2657145_spawn_asset_3671426_001",
+      "61": "wallartfactory_2657145_spawn_placeholder_3671426_001",
+      "64": "windowfactory_38420_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "11": "door_001",
+      "14": "infinigen_version_1_19_1_001",
+      "16": "kitchen_0_0_001",
+      "18": "kitchen_0_0_ceiling_001",
+      "20": "kitchen_0_0_exterior_001",
+      "22": "kitchen_0_0_floor_001",
+      "24": "kitchen_0_0_meshed_001",
+      "26": "kitchen_0_0_wall_001",
+      "36": "living_ceiling_0_0_001",
+      "38": "living_ceiling_1_0_001",
+      "55": "skirtingboard_ceiling_001",
+      "57": "skirtingboard_support_001",
+      "63": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678757/objects_in_view.json b/kitchen/kitchen_s46678757/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3ff0889ecc291a124f5863174bab006e80d02fa
--- /dev/null
+++ b/kitchen/kitchen_s46678757/objects_in_view.json
@@ -0,0 +1,41 @@
+{
+  "scene_id": "kitchen_s46678757",
+  "categories_in_view_count": 4,
+  "categories_in_view": [
+    "kitchen_space",
+    "oven",
+    "simple_bookcase",
+    "wall_art"
+  ],
+  "objects_in_view_count": 4,
+  "objects": [
+    {
+      "id": "KitchenSpaceFactory(2906418).spawn_asset(308822)",
+      "category": "kitchen_space",
+      "actual_pixels": 112031,
+      "truncation_ratio": 0.9528,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(963972).spawn_asset(8052684)",
+      "category": "oven",
+      "actual_pixels": 103805,
+      "truncation_ratio": 0.9999,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(7428933).spawn_asset(5557768)",
+      "category": "simple_bookcase",
+      "actual_pixels": 23576,
+      "truncation_ratio": 0.8493,
+      "near_edge": false
+    },
+    {
+      "id": "WallArtFactory(2657145).spawn_asset(3671426)",
+      "category": "wall_art",
+      "actual_pixels": 17542,
+      "truncation_ratio": 0.854,
+      "near_edge": true
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678758/GT.json b/kitchen/kitchen_s46678758/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..580f031e4b835369904d4294a373b7bf6403f212
--- /dev/null
+++ b/kitchen/kitchen_s46678758/GT.json
@@ -0,0 +1,136 @@
+{
+  "scene_id": "kitchen_s46678758",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        2.88,
+        3.44
+      ],
+      "asset_count": 8
+    },
+    "objects": [
+      {
+        "id": "CellShelfFactory(5937318).spawn_asset(402233)",
+        "category": "cell_shelf",
+        "position": [
+          -0.2,
+          1.12,
+          0.61
+        ],
+        "dimensions": [
+          1.86,
+          0.38,
+          0.96
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "LargePlantContainerFactory(6037027).spawn_asset(2042783)",
+        "category": "large_plant_container",
+        "position": [
+          -1.2,
+          -0.09,
+          0.47
+        ],
+        "dimensions": [
+          0.57,
+          0.49,
+          0.66
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "MirrorFactory(5821960).spawn_asset(2132056)",
+        "category": "mirror",
+        "position": [
+          -1.61,
+          0.02,
+          2.13
+        ],
+        "dimensions": [
+          1.04,
+          0.02,
+          0.69
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "OvenFactory(4372013).spawn_asset(6055302)",
+        "category": "oven",
+        "position": [
+          0.94,
+          0.05,
+          0.85
+        ],
+        "dimensions": [
+          1.04,
+          1.23,
+          1.45
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SingleCabinetFactory(4714776).spawn_asset(4264407)",
+        "category": "single_cabinet",
+        "position": [
+          1.42,
+          1.09,
+          1.03
+        ],
+        "dimensions": [
+          0.38,
+          0.37,
+          1.81
+        ],
+        "rotation_yaw": 180
+      },
+      {
+        "id": "SingleCabinetFactory(5211648).spawn_asset(7557343)",
+        "category": "single_cabinet",
+        "position": [
+          -1.38,
+          0.6,
+          0.8
+        ],
+        "dimensions": [
+          0.45,
+          0.31,
+          1.35
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(6419480).spawn_asset(1595996)",
+        "category": "single_cabinet",
+        "position": [
+          1.37,
+          -0.83,
+          0.96
+        ],
+        "dimensions": [
+          0.36,
+          0.33,
+          1.67
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "WallArtFactory(5124308).spawn_asset(2197283)",
+        "category": "wall_art",
+        "position": [
+          1.61,
+          0.53,
+          2.2
+        ],
+        "dimensions": [
+          1.06,
+          0.01,
+          0.5
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678758/metadata.json b/kitchen/kitchen_s46678758/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c58c4ee00fab2baec0e5cacc312aab866c629ce
--- /dev/null
+++ b/kitchen/kitchen_s46678758/metadata.json
@@ -0,0 +1,109 @@
+{
+  "scene_id": "kitchen_s46678758",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.0679,
+    "hue_std": 1.2711,
+    "mean_value": 0.6561,
+    "mean_gradient": 0.0062,
+    "entropy": 6.6395
+  },
+  "camera": {
+    "location": [
+      -0.8835800290107727,
+      1.2142802476882935,
+      1.8422441482543945
+    ],
+    "rotation_euler": [
+      1.144827127456665,
+      -0.010556547902524471,
+      -2.5542972087860107
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.84,
+    "distance_to_center": 1.5
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.41,
+          0.49,
+          0.53,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 1.0
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.72,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": true
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "7": "cellshelffactory_5937318_spawn_asset_402233_001",
+      "9": "cellshelffactory_5937318_spawn_placeholder_402233_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "32": "largeplantcontainerfactory_6037027_spawn_asset_2042783_001",
+      "34": "largeplantcontainerfactory_6037027_spawn_placeholder_2042783_001",
+      "40": "mesh_001",
+      "42": "mirrorfactory_5821960_spawn_asset_2132056_001",
+      "44": "mirrorfactory_5821960_spawn_placeholder_2132056_001",
+      "46": "ovenfactory_4372013_bbox_placeholder_6055302_001",
+      "48": "ovenfactory_4372013_spawn_asset_6055302_001",
+      "16": "paneldoorfactory_7733931_spawn_asset_0_001",
+      "51": "plane_001",
+      "53": "singlecabinetfactory_4714776_spawn_asset_4264407_001",
+      "55": "singlecabinetfactory_4714776_spawn_placeholder_4264407_001",
+      "57": "singlecabinetfactory_5211648_spawn_asset_7557343_001",
+      "59": "singlecabinetfactory_5211648_spawn_placeholder_7557343_001",
+      "61": "singlecabinetfactory_6419480_spawn_asset_1595996_001",
+      "63": "singlecabinetfactory_6419480_spawn_placeholder_1595996_001",
+      "69": "wallartfactory_5124308_spawn_asset_2197283_001",
+      "71": "wallartfactory_5124308_spawn_placeholder_2197283_001",
+      "74": "windowfactory_86680_spawn_asset_0_001",
+      "3": "camera_0_0_001",
+      "5": "camrig_0_001",
+      "15": "door_001",
+      "18": "infinigen_version_1_19_1_001",
+      "20": "kitchen_0_0_001",
+      "22": "kitchen_0_0_ceiling_001",
+      "24": "kitchen_0_0_exterior_001",
+      "26": "kitchen_0_0_floor_001",
+      "28": "kitchen_0_0_meshed_001",
+      "30": "kitchen_0_0_wall_001",
+      "36": "living_ceiling_0_0_001",
+      "38": "living_ceiling_0_1_001",
+      "65": "skirtingboard_ceiling_001",
+      "67": "skirtingboard_support_001",
+      "73": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s46678758/objects_in_view.json b/kitchen/kitchen_s46678758/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c814aa6b842f38c4f0a4d29ef0be8151b81e24c
--- /dev/null
+++ b/kitchen/kitchen_s46678758/objects_in_view.json
@@ -0,0 +1,33 @@
+{
+  "scene_id": "kitchen_s46678758",
+  "categories_in_view_count": 3,
+  "categories_in_view": [
+    "cell_shelf",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 3,
+  "objects": [
+    {
+      "id": "CellShelfFactory(5937318).spawn_asset(402233)",
+      "category": "cell_shelf",
+      "actual_pixels": 72745,
+      "truncation_ratio": 0.1274,
+      "near_edge": true
+    },
+    {
+      "id": "OvenFactory(4372013).spawn_asset(6055302)",
+      "category": "oven",
+      "actual_pixels": 178495,
+      "truncation_ratio": 0.9911,
+      "near_edge": false
+    },
+    {
+      "id": "SingleCabinetFactory(6419480).spawn_asset(1595996)",
+      "category": "single_cabinet",
+      "actual_pixels": 14222,
+      "truncation_ratio": 0.4596,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705293/GT.json b/kitchen/kitchen_s565705293/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd52c04535ae4d59d79461f1671f9be480e95679
--- /dev/null
+++ b/kitchen/kitchen_s565705293/GT.json
@@ -0,0 +1,106 @@
+{
+  "scene_id": "kitchen_s565705293",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.75,
+        4.88,
+        3.54
+      ],
+      "asset_count": 6
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(6259027).spawn_asset(7525971)",
+        "category": "beverage_fridge",
+        "position": [
+          1.26,
+          -0.3,
+          0.66
+        ],
+        "dimensions": [
+          1.01,
+          1.1,
+          1.06
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "DishwasherFactory(816726).spawn_asset(1629289)",
+        "category": "dishwasher",
+        "position": [
+          -1.26,
+          -1.94,
+          0.67
+        ],
+        "dimensions": [
+          0.75,
+          1.09,
+          1.1
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "KitchenSpaceFactory(1950256).spawn_asset(1727276)",
+        "category": "kitchen_space",
+        "position": [
+          -1.39,
+          -0.07,
+          1.29
+        ],
+        "dimensions": [
+          2.82,
+          0.74,
+          2.34
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "LargePlantContainerFactory(6653278).spawn_asset(8361400)",
+        "category": "large_plant_container",
+        "position": [
+          1.48,
+          1.83,
+          0.67
+        ],
+        "dimensions": [
+          0.48,
+          0.68,
+          1.06
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(4905053).spawn_asset(2483604)",
+        "category": "oven",
+        "position": [
+          1.19,
+          -1.43,
+          0.88
+        ],
+        "dimensions": [
+          1.1,
+          1.23,
+          1.51
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "SingleCabinetFactory(2344395).spawn_asset(3369479)",
+        "category": "single_cabinet",
+        "position": [
+          1.63,
+          0.85,
+          1.03
+        ],
+        "dimensions": [
+          0.56,
+          0.31,
+          1.81
+        ],
+        "rotation_yaw": 90
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705293/metadata.json b/kitchen/kitchen_s565705293/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e125752f2560bf35b6bb0c2f4450f9f50bdb3c8
--- /dev/null
+++ b/kitchen/kitchen_s565705293/metadata.json
@@ -0,0 +1,104 @@
+{
+  "scene_id": "kitchen_s565705293",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.0446,
+    "hue_std": 1.1755,
+    "mean_value": 0.6618,
+    "mean_gradient": 0.009,
+    "entropy": 6.2349
+  },
+  "camera": {
+    "location": [
+      -1.2180054187774658,
+      -0.2088075876235962,
+      1.7318754196166992
+    ],
+    "rotation_euler": [
+      1.0726783275604248,
+      0.0659225657582283,
+      -1.336649775505066
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.73,
+    "distance_to_center": 1.24
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.4,
+        "metallic": 0.0,
+        "specular": 0.3
+      },
+      "wall": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.78,
+        "metallic": 0.0,
+        "specular": 0.5
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_6259027_bbox_placeholder_7525971_001",
+      "5": "beveragefridgefactory_6259027_spawn_asset_7525971_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "15": "dishwasherfactory_816726_bbox_placeholder_1629289_001",
+      "17": "dishwasherfactory_816726_spawn_asset_1629289_001",
+      "36": "kitchenspacefactory_1950256_spawn_asset_1727276_001",
+      "38": "kitchenspacefactory_1950256_spawn_placeholder_1727276_001",
+      "40": "largeplantcontainerfactory_6653278_spawn_asset_8361400_001",
+      "42": "largeplantcontainerfactory_6653278_spawn_placeholder_8361400_001",
+      "48": "ovenfactory_4905053_bbox_placeholder_2483604_001",
+      "50": "ovenfactory_4905053_spawn_asset_2483604_001",
+      "20": "paneldoorfactory_3526678_spawn_asset_0_001",
+      "53": "plane_001",
+      "55": "singlecabinetfactory_2344395_spawn_asset_3369479_001",
+      "57": "singlecabinetfactory_2344395_spawn_placeholder_3369479_001",
+      "64": "windowfactory_63394_spawn_asset_0_001",
+      "7": "camera_0_0_001",
+      "9": "camrig_0_001",
+      "19": "door_001",
+      "22": "infinigen_version_1_19_1_001",
+      "24": "kitchen_0_0_001",
+      "26": "kitchen_0_0_ceiling_001",
+      "28": "kitchen_0_0_exterior_001",
+      "30": "kitchen_0_0_floor_001",
+      "32": "kitchen_0_0_meshed_001",
+      "34": "kitchen_0_0_wall_001",
+      "44": "living_ceiling_0_0_001",
+      "46": "living_ceiling_1_0_001",
+      "59": "skirtingboard_ceiling_001",
+      "61": "skirtingboard_support_001",
+      "63": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705293/objects_in_view.json b/kitchen/kitchen_s565705293/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f99a43c2989fdf61561a9d058557e5196044086
--- /dev/null
+++ b/kitchen/kitchen_s565705293/objects_in_view.json
@@ -0,0 +1,41 @@
+{
+  "scene_id": "kitchen_s565705293",
+  "categories_in_view_count": 4,
+  "categories_in_view": [
+    "beverage_fridge",
+    "large_plant_container",
+    "oven",
+    "single_cabinet"
+  ],
+  "objects_in_view_count": 4,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(6259027).spawn_asset(7525971)",
+      "category": "beverage_fridge",
+      "actual_pixels": 91303,
+      "truncation_ratio": 1.0013,
+      "near_edge": false
+    },
+    {
+      "id": "LargePlantContainerFactory(6653278).spawn_asset(8361400)",
+      "category": "large_plant_container",
+      "actual_pixels": 8490,
+      "truncation_ratio": 1.0098,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(4905053).spawn_asset(2483604)",
+      "category": "oven",
+      "actual_pixels": 155811,
+      "truncation_ratio": 0.66,
+      "near_edge": true
+    },
+    {
+      "id": "SingleCabinetFactory(2344395).spawn_asset(3369479)",
+      "category": "single_cabinet",
+      "actual_pixels": 45739,
+      "truncation_ratio": 0.9563,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705294/GT.json b/kitchen/kitchen_s565705294/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..968e50d5b562479d6bacf5e20c37eb1f07f04097
--- /dev/null
+++ b/kitchen/kitchen_s565705294/GT.json
@@ -0,0 +1,106 @@
+{
+  "scene_id": "kitchen_s565705294",
+  "scene": {
+    "room": {
+      "type": "kitchen",
+      "size": [
+        3.25,
+        3.88,
+        3.52
+      ],
+      "asset_count": 6
+    },
+    "objects": [
+      {
+        "id": "BeverageFridgeFactory(9702914).spawn_asset(7581305)",
+        "category": "beverage_fridge",
+        "position": [
+          -1.03,
+          1.3,
+          0.67
+        ],
+        "dimensions": [
+          1.03,
+          1.05,
+          1.08
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "KitchenSpaceFactory(5018482).spawn_asset(555314)",
+        "category": "kitchen_space",
+        "position": [
+          1.03,
+          0.13,
+          1.28
+        ],
+        "dimensions": [
+          2.44,
+          0.95,
+          2.31
+        ],
+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(7170963).spawn_asset(840281)",
+        "category": "large_plant_container",
+        "position": [
+          1.36,
+          -1.52,
+          0.68
+        ],
+        "dimensions": [
+          0.5,
+          0.57,
+          1.09
+        ],
+        "rotation_yaw": null
+      },
+      {
+        "id": "OvenFactory(7163716).spawn_asset(2757265)",
+        "category": "oven",
+        "position": [
+          -0.92,
+          -1.22,
+          0.67
+        ],
+        "dimensions": [
+          0.97,
+          1.16,
+          1.1
+        ],
+        "rotation_yaw": 0
+      },
+      {
+        "id": "SimpleBookcaseFactory(1142520).spawn_asset(8313530)",
+        "category": "simple_bookcase",
+        "position": [
+          -1.36,
+          -0.02,
+          0.95
+        ],
+        "dimensions": [
+          1.08,
+          0.38,
+          1.66
+        ],
+        "rotation_yaw": 270
+      },
+      {
+        "id": "SingleCabinetFactory(7762936).spawn_asset(8667351)",
+        "category": "single_cabinet",
+        "position": [
+          1.24,
+          1.6,
+          0.7
+        ],
+        "dimensions": [
+          0.55,
+          0.36,
+          1.15
+        ],
+        "rotation_yaw": 180
+      }
+    ]
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705294/metadata.json b/kitchen/kitchen_s565705294/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..544d929d3835cd269ee337bc2c2c59d485b5ecd5
--- /dev/null
+++ b/kitchen/kitchen_s565705294/metadata.json
@@ -0,0 +1,105 @@
+{
+  "scene_id": "kitchen_s565705294",
+  "render": {
+    "resolution": [
+      1280,
+      720
+    ],
+    "mean_saturation": 0.1102,
+    "hue_std": 0.4509,
+    "mean_value": 0.5939,
+    "mean_gradient": 0.012,
+    "entropy": 7.0114
+  },
+  "camera": {
+    "location": [
+      -0.5512990951538086,
+      -0.5070434212684631,
+      1.6260749101638794
+    ],
+    "rotation_euler": [
+      0.9595057964324951,
+      -0.026548229157924652,
+      -0.783843457698822
+    ],
+    "rotation_unit": "radians",
+    "rotation_order": "XYZ",
+    "focal_length_mm": 15.0,
+    "sensor_width": 32.0,
+    "height": 1.63,
+    "distance_to_center": 0.75
+  },
+  "environment": {
+    "room_type": "kitchen",
+    "lighting": {
+      "light_count": 2,
+      "has_window": true
+    },
+    "materials": {
+      "floor": {
+        "base_color": [
+          0.8,
+          0.8,
+          0.8,
+          1.0
+        ],
+        "roughness": 0.44,
+        "metallic": 0.0,
+        "specular": 0.5
+      },
+      "wall": {
+        "base_color": [
+          0.34,
+          0.34,
+          0.34,
+          1.0
+        ],
+        "roughness": 0.5,
+        "metallic": 0.0,
+        "specular": 1.0
+      }
+    },
+    "has_mirror": false
+  },
+  "instance_map": {
+    "format": "grayscale_uint16",
+    "bits_per_channel": 16,
+    "background_value": 0,
+    "object_index_map": {
+      "1": "area_001",
+      "3": "beveragefridgefactory_9702914_bbox_placeholder_7581305_001",
+      "5": "beveragefridgefactory_9702914_spawn_asset_7581305_001",
+      "11": "cube_001",
+      "13": "cube_001_001",
+      "32": "kitchenspacefactory_5018482_spawn_asset_555314_001",
+      "34": "kitchenspacefactory_5018482_spawn_placeholder_555314_001",
+      "36": "largeplantcontainerfactory_7170963_spawn_asset_840281_001",
+      "38": "largeplantcontainerfactory_7170963_spawn_placeholder_840281_001",
+      "44": "mesh_001",
+      "46": "ovenfactory_7163716_bbox_placeholder_2757265_001",
+      "48": "ovenfactory_7163716_spawn_asset_2757265_001",
+      "16": "paneldoorfactory_4847295_spawn_asset_0_001",
+      "51": "plane_001",
+      "53": "simplebookcasefactory_1142520_bbox_placeholder_8313530_001",
+      "55": "simplebookcasefactory_1142520_spawn_asset_8313530_001",
+      "57": "singlecabinetfactory_7762936_spawn_asset_8667351_001",
+      "59": "singlecabinetfactory_7762936_spawn_placeholder_8667351_001",
+      "66": "windowfactory_60555_spawn_asset_0_001",
+      "7": "camera_0_0_001",
+      "9": "camrig_0_001",
+      "15": "door_001",
+      "18": "infinigen_version_1_19_1_001",
+      "20": "kitchen_0_0_001",
+      "22": "kitchen_0_0_ceiling_001",
+      "24": "kitchen_0_0_exterior_001",
+      "26": "kitchen_0_0_floor_001",
+      "28": "kitchen_0_0_meshed_001",
+      "30": "kitchen_0_0_wall_001",
+      "40": "living_ceiling_0_0_001",
+      "42": "living_ceiling_1_0_001",
+      "61": "skirtingboard_ceiling_001",
+      "63": "skirtingboard_support_001",
+      "65": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705294/objects_in_view.json b/kitchen/kitchen_s565705294/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cc6e5a171fda4f1ffb3b49b534d83131ce3218e
--- /dev/null
+++ b/kitchen/kitchen_s565705294/objects_in_view.json
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705299/objects_in_view.json b/kitchen/kitchen_s565705299/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..4327fb53cf578db38df5bfb345d15396504d1719
--- /dev/null
+++ b/kitchen/kitchen_s565705299/objects_in_view.json
@@ -0,0 +1,49 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705300/GT.json b/kitchen/kitchen_s565705300/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..04c93f63d127f57dba0b3c89bde72ce81d2586d3
--- /dev/null
+++ b/kitchen/kitchen_s565705300/GT.json
@@ -0,0 +1,151 @@
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+        4.38,
+        3.68
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705300/metadata.json b/kitchen/kitchen_s565705300/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e323572028abba3e061cdf98cd3680c2d3de165
--- /dev/null
+++ b/kitchen/kitchen_s565705300/metadata.json
@@ -0,0 +1,110 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705300/objects_in_view.json b/kitchen/kitchen_s565705300/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..6997d13a8a68c6bd1ca50b7de1694022e84d0b91
--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705301/GT.json b/kitchen/kitchen_s565705301/GT.json
new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s565705301/GT.json
@@ -0,0 +1,91 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705302/objects_in_view.json b/kitchen/kitchen_s565705302/objects_in_view.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705303/GT.json b/kitchen/kitchen_s565705303/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d30572cbbeeaf0af59750b52c7365bbeb71fe6d
--- /dev/null
+++ b/kitchen/kitchen_s565705303/GT.json
@@ -0,0 +1,91 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..490b86c0c1d39d662cad0aaa0f6be3fbd6532eae
--- /dev/null
+++ b/kitchen/kitchen_s565705303/metadata.json
@@ -0,0 +1,102 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705303/objects_in_view.json b/kitchen/kitchen_s565705303/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecc8b0a9f187f57d967f213eba39e1c621167ff8
--- /dev/null
+++ b/kitchen/kitchen_s565705303/objects_in_view.json
@@ -0,0 +1,25 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705304/GT.json b/kitchen/kitchen_s565705304/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb4c28313f439edcae22762b8156ae4e03ee439
--- /dev/null
+++ b/kitchen/kitchen_s565705304/GT.json
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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\ No newline at end of file
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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--- /dev/null
+++ b/kitchen/kitchen_s565705306/GT.json
@@ -0,0 +1,106 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705308/objects_in_view.json b/kitchen/kitchen_s565705308/objects_in_view.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705309/GT.json b/kitchen/kitchen_s565705309/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b6168910a1e49e932a410cd348106ec88d2b387
--- /dev/null
+++ b/kitchen/kitchen_s565705309/GT.json
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s565705309/metadata.json
@@ -0,0 +1,108 @@
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\ No newline at end of file
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new file mode 100644
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--- /dev/null
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\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..27c80d68e3cccc2e92b4eeafb518b77b9a77186b
--- /dev/null
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s565705310/GT.json
@@ -0,0 +1,136 @@
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705310/metadata.json b/kitchen/kitchen_s565705310/metadata.json
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--- /dev/null
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+      "63": "singlecabinetfactory_3400061_spawn_asset_2446359_001",
+      "65": "singlecabinetfactory_3400061_spawn_placeholder_2446359_001",
+      "72": "windowfactory_80563_spawn_asset_0_001",
+      "7": "camera_0_0_001",
+      "9": "camrig_0_001",
+      "27": "door_001",
+      "30": "infinigen_version_1_19_1_001",
+      "32": "kitchen_0_0_001",
+      "34": "kitchen_0_0_ceiling_001",
+      "36": "kitchen_0_0_exterior_001",
+      "38": "kitchen_0_0_floor_001",
+      "40": "kitchen_0_0_meshed_001",
+      "42": "kitchen_0_0_wall_001",
+      "52": "living_ceiling_0_0_001",
+      "54": "living_ceiling_0_1_001",
+      "67": "skirtingboard_ceiling_001",
+      "69": "skirtingboard_support_001",
+      "71": "window_001"
+    }
+  }
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705310/objects_in_view.json b/kitchen/kitchen_s565705310/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..f498627f7f87fbd49246b0c962372f1a4530b2dc
--- /dev/null
+++ b/kitchen/kitchen_s565705310/objects_in_view.json
@@ -0,0 +1,49 @@
+{
+  "scene_id": "kitchen_s565705310",
+  "categories_in_view_count": 5,
+  "categories_in_view": [
+    "beverage_fridge",
+    "cell_shelf",
+    "kitchen_space",
+    "large_plant_container",
+    "oven"
+  ],
+  "objects_in_view_count": 5,
+  "objects": [
+    {
+      "id": "BeverageFridgeFactory(2975590).spawn_asset(326064)",
+      "category": "beverage_fridge",
+      "actual_pixels": 116178,
+      "truncation_ratio": 0.9097,
+      "near_edge": false
+    },
+    {
+      "id": "CellShelfFactory(6217433).spawn_asset(3924905)",
+      "category": "cell_shelf",
+      "actual_pixels": 6482,
+      "truncation_ratio": 0.2992,
+      "near_edge": false
+    },
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+      "category": "kitchen_space",
+      "actual_pixels": 55982,
+      "truncation_ratio": 0.0287,
+      "near_edge": true
+    },
+    {
+      "id": "LargePlantContainerFactory(9068378).spawn_asset(5872538)",
+      "category": "large_plant_container",
+      "actual_pixels": 16534,
+      "truncation_ratio": 0.9993,
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+    },
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+      "near_edge": false
+    }
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705311/GT.json b/kitchen/kitchen_s565705311/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..333bb6712517b060da46f227e50ccced1b39eabd
--- /dev/null
+++ b/kitchen/kitchen_s565705311/GT.json
@@ -0,0 +1,151 @@
+{
+  "scene_id": "kitchen_s565705311",
+  "scene": {
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+        4.38,
+        3.06
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+      "asset_count": 9
+    },
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+          0.92,
+          2.34
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+        "rotation_yaw": 90
+      },
+      {
+        "id": "LargePlantContainerFactory(4724303).spawn_asset(9194930)",
+        "category": "large_plant_container",
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+          1.61,
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+      {
+        "id": "MirrorFactory(2391850).spawn_asset(9573278)",
+        "category": "mirror",
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705311/metadata.json b/kitchen/kitchen_s565705311/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..106366651b17f577b5be8efad2ce9c580c5a1ade
--- /dev/null
+++ b/kitchen/kitchen_s565705311/metadata.json
@@ -0,0 +1,111 @@
+{
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705311/objects_in_view.json b/kitchen/kitchen_s565705311/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..91998eb858b6f930d4e19c6d32425ec00da79723
--- /dev/null
+++ b/kitchen/kitchen_s565705311/objects_in_view.json
@@ -0,0 +1,56 @@
+{
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+  "categories_in_view": [
+    "dishwasher",
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+      "truncation_ratio": 0.5451,
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+      "category": "wall_art",
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+      "near_edge": false
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+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705312/GT.json b/kitchen/kitchen_s565705312/GT.json
new file mode 100644
index 0000000000000000000000000000000000000000..0257fe2ee63a9635f41bc4af157cc086df2876a7
--- /dev/null
+++ b/kitchen/kitchen_s565705312/GT.json
@@ -0,0 +1,91 @@
+{
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+      }
+    ]
+  }
+}
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..5095cbc6a9f692b054aa44701e8d950a3fc04246
--- /dev/null
+++ b/kitchen/kitchen_s565705312/color.png
@@ -0,0 +1,3 @@
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diff --git a/kitchen/kitchen_s565705312/instance_segmentation.png b/kitchen/kitchen_s565705312/instance_segmentation.png
new file mode 100644
index 0000000000000000000000000000000000000000..c533bba59447f259310b84fdc989fdfc73f39702
--- /dev/null
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new file mode 100644
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--- /dev/null
+++ b/kitchen/kitchen_s565705312/metadata.json
@@ -0,0 +1,102 @@
+{
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\ No newline at end of file
diff --git a/kitchen/kitchen_s565705312/objects_in_view.json b/kitchen/kitchen_s565705312/objects_in_view.json
new file mode 100644
index 0000000000000000000000000000000000000000..55ea7b2f577916eb47fbbeb363e3f0615998f71e
--- /dev/null
+++ b/kitchen/kitchen_s565705312/objects_in_view.json
@@ -0,0 +1,41 @@
+{
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+      "actual_pixels": 412,
+      "truncation_ratio": 0.0384,
+      "near_edge": false
+    },
+    {
+      "id": "OvenFactory(9479179).spawn_asset(9684232)",
+      "category": "oven",
+      "actual_pixels": 170015,
+      "truncation_ratio": 0.3009,
+      "near_edge": false
+    },
+    {
+      "id": "SimpleBookcaseFactory(4775386).spawn_asset(6567313)",
+      "category": "simple_bookcase",
+      "actual_pixels": 58652,
+      "truncation_ratio": 0.5801,
+      "near_edge": false
+    }
+  ]
+}
\ No newline at end of file
diff --git a/kitchen/kitchen_s565705312/scene.blend b/kitchen/kitchen_s565705312/scene.blend
new file mode 100644
index 0000000000000000000000000000000000000000..f55c38e80943897f90179171a290b0447b9b3166
--- /dev/null
+++ b/kitchen/kitchen_s565705312/scene.blend
@@ -0,0 +1,3 @@
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+oid sha256:5aa6330d5b83e350f6d2a5ab0c02f1466e151528eed98547f63bd300a600e7a3
+size 25573176